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Get rid of "and" business

release/4.3a0
Frank Dellaert 2021-12-13 08:55:32 -05:00
parent 16672daf83
commit 02dbcb4989
1 changed files with 10 additions and 28 deletions
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38
python/gtsam/tests/test_DiscreteFactorGraph.py
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@ -10,28 +10,13 @@ Author: Frank Dellaert
""" """
import unittest import unittest
import numpy as np
import gtsam import gtsam
from gtsam import DiscreteFactorGraph import numpy as np
from gtsam import DiscreteFactorGraph, DiscreteKeys
from gtsam.symbol_shorthand import X from gtsam.symbol_shorthand import X
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
# #include <gtsam/discrete/DiscreteFactor.h>
# #include <gtsam/discrete/DiscreteFactorGraph.h>
# #include <gtsam/discrete/DiscreteEliminationTree.h>
# #include <gtsam/discrete/DiscreteBayesTree.h>
# #include <gtsam/inference/BayesNet.h>
# #include <CppUnitLite/TestHarness.h>
# #include <boost/assign/std/map.hpp>
# using namespace boost::assign
# using namespace std
# using namespace gtsam
from gtsam import DiscreteKeys, DiscreteFactorGraph
class TestDiscreteFactorGraph(GtsamTestCase): class TestDiscreteFactorGraph(GtsamTestCase):
"""Tests for Discrete Factor Graphs.""" """Tests for Discrete Factor Graphs."""
@ -47,21 +32,18 @@ class TestDiscreteFactorGraph(GtsamTestCase):
graph.add(P1, "0.9 0.3") graph.add(P1, "0.9 0.3")
graph.add(P2, "0.9 0.6") graph.add(P2, "0.9 0.6")
# NOTE(fan): originally is an operator overload in C++ & keys = DiscreteKeys()
def discrete_and(a, b): keys.push_back(P1)
dks = DiscreteKeys() keys.push_back(P2)
dks.push_back(a)
dks.push_back(b)
return dks
graph.add(discrete_and(P1, P2), "4 1 10 4") graph.add(keys, "4 1 10 4")
print(graph) print(graph)
# # Instantiate Values # Instantiate Values
# DiscreteFactor::Values values DiscreteFactor::Values values
# values[0] = 1 values[0] = 1
# values[1] = 1 values[1] = 1
# # Check if graph evaluation works ( 0.3*0.6*4 ) # # Check if graph evaluation works ( 0.3*0.6*4 )
# EXPECT_DOUBLES_EQUAL( .72, graph(values), 1e-9) # EXPECT_DOUBLES_EQUAL( .72, graph(values), 1e-9)