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update Matlab scripts to work after changes in gtsam

release/4.3a0
Viorela Ila 2009-11-12 20:42:01 +00:00
parent b43304aff8
commit 199f5935dd
1 changed files with 27 additions and 28 deletions
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55
matlab/testLinearFactorGraph.m
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@ -54,50 +54,49 @@ actual = fg.combine_factors('x2');
%-----------------------------------------------------------------------
% eliminate_x1
fg = createGaussianFactorGraph();
actual = fg.eliminate_one('x1');
actual = fg.eliminateOne('x1');
%-----------------------------------------------------------------------
% eliminate_x2
fg = createGaussianFactorGraph();
actual = fg.eliminate_one('x2');
actual = fg.eliminateOne('x2');
%-----------------------------------------------------------------------
% eliminateAll
sigma1=.1;
R1 = eye(2);
d1=[-.1;-.1];
cg1 = ConditionalGaussian('x1',d1, R1,sigma1);
R1 = [10, 0.0
0.0, 10];
d1=[-1;-1];
cg1 = ConditionalGaussian(d1, R1);
sigma2=0.149071;
R2 = eye(2);
A1= -eye(2);
d2=[0; .2];
cg2 = ConditionalGaussian('l1',d2, R2, 'x1', A1,sigma2);
R2 = [6.7082, 0.0
0.0, 6.7082];
A1= [ -6.7082, 0.0
0.0, -6.7082];
d2=[0;1.34164];
cg2 = ConditionalGaussian(d2, R2, 'x1', A1);
R3 = [11.1803, 0.0
0.0, 11.1803];
A21 = [ -2.23607, 0.0
0.0, -2.23607];
A22 = [-8.94427, 0.0
0.0, -8.94427];
d3 =[2.23607; -1.56525];
cg3 = ConditionalGaussian(d3, R3, 'l1', A21, 'x1', A22);
expected = ChordalBayesNet;
expected.insert('x1', cg1);
expected.insert('l1', cg2);
expected.insert('x2', cg3);
sigma3=0.0894427;
R3 = eye(2);
A21 = [ -.2, 0.0
0.0, -.2];
A22 = [-.8, 0.0
0.0, -.8];
d3 =[.2; -.14];
cg3 = ConditionalGaussian('x2',d3, R3, 'l1', A21, 'x1', A22, sigma3);
expected = GaussianBayesNet;
expected.push_back(cg1);
expected.push_back(cg2);
expected.push_back(cg3);
expected.print_();
% Check one ordering
fg1 = createGaussianFactorGraph();
ord1 = Ordering;
ord1.push_back('x2');
ord1.push_back('l1');
ord1.push_back('x1');
actual1 = fg1.eliminate(ord1);
CHECK('eliminateAll', actual1.equals(expected));
actual1 = fg1.eliminate_(ord1);
actual1.print();
%CHECK('eliminateAll', actual1.equals(expected));
%-----------------------------------------------------------------------
% matrix