From 1df761d9a0bf84faff5e258a1f5f980c1e5c4964 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 15 Sep 2012 11:49:42 +0000 Subject: [PATCH] Small formatting --- gtsam/discrete/DiscreteMarginals.h | 1 - .../discrete/tests/testDiscreteMarginals.cpp | 56 ++++++++++--------- 2 files changed, 29 insertions(+), 28 deletions(-) diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h index 1e89286a8..ff07e5a6c 100644 --- a/gtsam/discrete/DiscreteMarginals.h +++ b/gtsam/discrete/DiscreteMarginals.h @@ -22,7 +22,6 @@ #include #include -#include namespace gtsam { diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp index d0670bcf7..62a69de8c 100644 --- a/gtsam/discrete/tests/testDiscreteMarginals.cpp +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -19,8 +19,10 @@ #include #include + #include using namespace boost::assign; + #include using namespace std; @@ -65,19 +67,19 @@ TEST_UNSAFE( DiscreteMarginals, UGM_chain ) { const size_t nrStates = 7; // define variables - vector nodes; + vector key; for (int i = 0; i < nrNodes; i++) { - DiscreteKey dk(i, nrStates); - nodes.push_back(dk); + DiscreteKey key_i(i, nrStates); + key.push_back(key_i); } // create graph DiscreteFactorGraph graph; // add node potentials - graph.add(nodes[0], ".3 .6 .1 0 0 0 0"); + graph.add(key[0], ".3 .6 .1 0 0 0 0"); for (int i = 1; i < nrNodes; i++) - graph.add(nodes[i], "1 1 1 1 1 1 1"); + graph.add(key[i], "1 1 1 1 1 1 1"); const std::string edgePotential = ".08 .9 .01 0 0 0 .01 " ".03 .95 .01 0 0 0 .01 " @@ -89,13 +91,13 @@ TEST_UNSAFE( DiscreteMarginals, UGM_chain ) { // add edge potentials for (int i = 0; i < nrNodes - 1; i++) - graph.add(nodes[i] & nodes[i + 1], edgePotential); + graph.add(key[i] & key[i + 1], edgePotential); DiscreteMarginals marginals(graph); - DiscreteFactor::shared_ptr actualC = marginals(nodes[2].first); + DiscreteFactor::shared_ptr actualC = marginals(key[2].first); DiscreteFactor::Values values; - values[nodes[2].first] = 0; + values[key[2].first] = 0; EXPECT_DOUBLES_EQUAL( 0.03426, (*actualC)(values), 1e-4); } @@ -106,28 +108,28 @@ TEST_UNSAFE( DiscreteMarginals, truss ) { const size_t nrStates = 2; // define variables - vector nodes; + vector key; for (int i = 0; i < nrNodes; i++) { - DiscreteKey dk(i, nrStates); - nodes.push_back(dk); + DiscreteKey key_i(i, nrStates); + key.push_back(key_i); } // create graph and add three truss potentials DiscreteFactorGraph graph; - graph.add(nodes[0] & nodes[2] & nodes[4],"2 2 2 2 1 1 1 1"); - graph.add(nodes[1] & nodes[3] & nodes[4],"1 1 1 1 2 2 2 2"); - graph.add(nodes[2] & nodes[3] & nodes[4],"1 1 1 1 1 1 1 1"); + graph.add(key[0] & key[2] & key[4],"2 2 2 2 1 1 1 1"); + graph.add(key[1] & key[3] & key[4],"1 1 1 1 2 2 2 2"); + graph.add(key[2] & key[3] & key[4],"1 1 1 1 1 1 1 1"); typedef JunctionTree JT; GenericMultifrontalSolver solver(graph); BayesTree::shared_ptr bayesTree = solver.eliminate(&EliminateDiscrete); // bayesTree->print("Bayes Tree"); typedef BayesTreeClique Clique; - Clique expected0(boost::make_shared((nodes[0] | nodes[2], nodes[4]) = "2/1 2/1 2/1 2/1")); + Clique expected0(boost::make_shared((key[0] | key[2], key[4]) = "2/1 2/1 2/1 2/1")); Clique::shared_ptr actual0 = (*bayesTree)[0]; // EXPECT(assert_equal(expected0, *actual0)); // TODO, correct but fails - Clique expected1(boost::make_shared((nodes[1] | nodes[3], nodes[4]) = "1/2 1/2 1/2 1/2")); + Clique expected1(boost::make_shared((key[1] | key[3], key[4]) = "1/2 1/2 1/2 1/2")); Clique::shared_ptr actual1 = (*bayesTree)[1]; // EXPECT(assert_equal(expected1, *actual1)); // TODO, correct but fails @@ -135,12 +137,12 @@ TEST_UNSAFE( DiscreteMarginals, truss ) { DiscreteMarginals marginals(graph); // test 0 - DecisionTreeFactor expectedM0(nodes[0],"0.666667 0.333333"); + DecisionTreeFactor expectedM0(key[0],"0.666667 0.333333"); DiscreteFactor::shared_ptr actualM0 = marginals(0); EXPECT(assert_equal(expectedM0, *boost::dynamic_pointer_cast(actualM0),1e-5)); // test 1 - DecisionTreeFactor expectedM1(nodes[1],"0.333333 0.666667"); + DecisionTreeFactor expectedM1(key[1],"0.333333 0.666667"); DiscreteFactor::shared_ptr actualM1 = marginals(1); EXPECT(assert_equal(expectedM1, *boost::dynamic_pointer_cast(actualM1),1e-5)); } @@ -153,21 +155,21 @@ TEST_UNSAFE( DiscreteMarginals, truss2 ) { const size_t nrStates = 2; // define variables - vector nodes; + vector key; for (int i = 0; i < nrNodes; i++) { - DiscreteKey dk(i, nrStates); - nodes.push_back(dk); + DiscreteKey key_i(i, nrStates); + key.push_back(key_i); } // create graph and add three truss potentials DiscreteFactorGraph graph; - graph.add(nodes[0] & nodes[2] & nodes[4],"1 2 3 4 5 6 7 8"); - graph.add(nodes[1] & nodes[3] & nodes[4],"1 2 3 4 5 6 7 8"); - graph.add(nodes[2] & nodes[3] & nodes[4],"1 2 3 4 5 6 7 8"); + graph.add(key[0] & key[2] & key[4],"1 2 3 4 5 6 7 8"); + graph.add(key[1] & key[3] & key[4],"1 2 3 4 5 6 7 8"); + graph.add(key[2] & key[3] & key[4],"1 2 3 4 5 6 7 8"); // Calculate the marginals by brute force vector allPosbValues = cartesianProduct( - nodes[0] & nodes[1] & nodes[2] & nodes[3] & nodes[4]); + key[0] & key[1] & key[2] & key[3] & key[4]); Vector T = zero(5), F = zero(5); for (size_t i = 0; i < allPosbValues.size(); ++i) { DiscreteFactor::Values x = allPosbValues[i]; @@ -186,13 +188,13 @@ TEST_UNSAFE( DiscreteMarginals, truss2 ) { F[j]/=sum; // solver - Vector actualV = solver.marginalProbabilities(nodes[j]); + Vector actualV = solver.marginalProbabilities(key[j]); EXPECT(assert_equal(Vector_(2,F[j],T[j]), actualV)); // Marginals vector table; table += F[j],T[j]; - DecisionTreeFactor expectedM(nodes[j],table); + DecisionTreeFactor expectedM(key[j],table); DiscreteFactor::shared_ptr actualM = marginals(j); EXPECT(assert_equal(expectedM, *boost::dynamic_pointer_cast(actualM))); }