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release/4.3a0
Frank Dellaert 2009-10-15 14:56:40 +00:00
parent 485f8d003b
commit 0d66ee8f72
3 changed files with 22 additions and 21 deletions
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18
.cproject
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@ -395,14 +395,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testLinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testLinearConstraint.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/> <buildArguments/>
@ -418,14 +410,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testConstrainedConditionalGaussian.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testConstrainedConditionalGaussian.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testConstrainedLinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testConstrainedLinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/> <buildArguments/>
@ -436,6 +420,7 @@
</target> </target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>install</buildTarget> <buildTarget>install</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -443,6 +428,7 @@
</target> </target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>clean</buildTarget> <buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>

4
cpp/smallExample.cpp
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@ -241,6 +241,7 @@ ExampleNonlinearFactorGraph createReallyNonlinearFactorGraph() {
/* ************************************************************************* */ /* ************************************************************************* */
ConstrainedLinearFactorGraph createSingleConstraintGraph() { ConstrainedLinearFactorGraph createSingleConstraintGraph() {
// create unary factor // create unary factor
// prior on "x", mean = [1,-1], sigma=0.1
double sigma = 0.1; double sigma = 0.1;
Matrix Ax = eye(2) / sigma; Matrix Ax = eye(2) / sigma;
Vector b1(2); Vector b1(2);
@ -249,6 +250,9 @@ ConstrainedLinearFactorGraph createSingleConstraintGraph() {
LinearFactor::shared_ptr f1(new LinearFactor("x", Ax, b1 / sigma)); LinearFactor::shared_ptr f1(new LinearFactor("x", Ax, b1 / sigma));
// create binary constraint factor // create binary constraint factor
// between "x" and "y", that is going to be the only factor on "y"
// |1 2||x_1| + |10 0||y_1| = |1|
// |2 1||x_2| |0 10||y_2| |2|
Matrix Ax1(2, 2); Matrix Ax1(2, 2);
Ax1(0, 0) = 1.0; Ax1(0, 1) = 2.0; Ax1(0, 0) = 1.0; Ax1(0, 1) = 2.0;
Ax1(1, 0) = 2.0; Ax1(1, 1) = 1.0; Ax1(1, 0) = 2.0; Ax1(1, 1) = 1.0;

21
cpp/testConstrainedLinearFactorGraph.cpp
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@ -16,6 +16,7 @@ using namespace std;
TEST( ConstrainedLinearFactorGraph, elimination1 ) TEST( ConstrainedLinearFactorGraph, elimination1 )
{ {
// get the graph // get the graph
// *-X-x-Y
ConstrainedLinearFactorGraph fg = createSingleConstraintGraph(); ConstrainedLinearFactorGraph fg = createSingleConstraintGraph();
// verify construction of the graph // verify construction of the graph
@ -26,9 +27,14 @@ TEST( ConstrainedLinearFactorGraph, elimination1 )
ord.push_back("x"); ord.push_back("x");
ChordalBayesNet::shared_ptr cbn = fg.eliminate(ord); ChordalBayesNet::shared_ptr cbn = fg.eliminate(ord);
//verify changes and output // verify result of elimination
// CBN of size 1, as we only eliminated X now
CHECK(fg.size() == 1); CHECK(fg.size() == 1);
CHECK(cbn->size() == 1); CHECK(cbn->size() == 1);
// We will have a "delta function" on X as a function of Y
// |1 2||x_1| = |1| - |10 0||y_1|
// |2 1||x_2| |2| |0 10||y_2|
Matrix Ax1(2, 2); Matrix Ax1(2, 2);
Ax1(0, 0) = 1.0; Ax1(0, 1) = 2.0; Ax1(0, 0) = 1.0; Ax1(0, 1) = 2.0;
Ax1(1, 0) = 2.0; Ax1(1, 1) = 1.0; Ax1(1, 0) = 2.0; Ax1(1, 1) = 1.0;
@ -36,6 +42,9 @@ TEST( ConstrainedLinearFactorGraph, elimination1 )
Vector b2 = Vector_(2, 1.0, 2.0); Vector b2 = Vector_(2, 1.0, 2.0);
ConstrainedConditionalGaussian expectedCCG1(b2, Ax1, "y", Ay1); ConstrainedConditionalGaussian expectedCCG1(b2, Ax1, "y", Ay1);
CHECK(expectedCCG1.equals(*(cbn->get("x")))); CHECK(expectedCCG1.equals(*(cbn->get("x"))));
// verify remaining factor on y
// Gaussian factor on X becomes different Gaussian factor on Y
Matrix Ap(2,2); Matrix Ap(2,2);
Ap(0, 0) = 1.0; Ap(0, 1) = -2.0; Ap(0, 0) = 1.0; Ap(0, 1) = -2.0;
Ap(1, 0) = -2.0; Ap(1, 1) = 1.0; Ap(1, 0) = -2.0; Ap(1, 1) = 1.0;
@ -48,12 +57,14 @@ TEST( ConstrainedLinearFactorGraph, elimination1 )
Ordering ord2; Ordering ord2;
ord2.push_back("y"); ord2.push_back("y");
cbn = fg.eliminate(ord2); cbn = fg.eliminate(ord2);
// Check result
CHECK(fg.size() == 0); CHECK(fg.size() == 0);
Matrix Ar(2,2); Matrix R(2,2);
Ar(0, 0) = 74.5356; Ar(0, 1) = -59.6285; R(0, 0) = 74.5356; R(0, 1) = -59.6285;
Ar(1, 0) = 0.0; Ar(1, 1) = 44.7214; R(1, 0) = 0.0; R(1, 1) = 44.7214;
Vector br = Vector_(2, 8.9443, 4.4721); Vector br = Vector_(2, 8.9443, 4.4721);
ConditionalGaussian expected2(br, Ar); ConditionalGaussian expected2(br, R);
CHECK(expected2.equals(*(cbn->get("y")))); CHECK(expected2.equals(*(cbn->get("y"))));
} }