added comment for every test and formatted with Google style for testTableFactor.cpp.
Yoonwoo Kim
parent
0a5a21bedc
commit
1e14e4e2a5
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@ -19,11 +19,12 @@
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <gtsam/discrete/TableFactor.h>
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#include <gtsam/discrete/DiscreteDistribution.h>
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#include <gtsam/discrete/Signature.h>
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#include <random>
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#include <gtsam/discrete/TableFactor.h>
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#include <chrono>
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#include <random>
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using namespace std;
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using namespace gtsam;
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@ -31,7 +32,7 @@ using namespace gtsam;
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vector<double> genArr(double dropout, size_t size) {
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random_device rd;
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mt19937 g(rd());
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vector<double> dropoutmask(size); // Chance of 0
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vector<double> dropoutmask(size); // Chance of 0
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uniform_int_distribution<> dist(1, 9);
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auto gen = [&dist, &g]() { return dist(g); };
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@ -43,11 +44,10 @@ vector<double> genArr(double dropout, size_t size) {
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return dropoutmask;
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}
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map<double, pair<chrono::microseconds, chrono::microseconds>>
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measureTime(DiscreteKeys keys1, DiscreteKeys keys2, size_t size) {
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map<double, pair<chrono::microseconds, chrono::microseconds>> measureTime(
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DiscreteKeys keys1, DiscreteKeys keys2, size_t size) {
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vector<double> dropouts = {0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9};
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map<double, pair<chrono::microseconds, chrono::microseconds>>
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measured_times;
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map<double, pair<chrono::microseconds, chrono::microseconds>> measured_times;
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for (auto dropout : dropouts) {
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vector<double> arr1 = genArr(dropout, size);
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@ -61,13 +61,15 @@ map<double, pair<chrono::microseconds, chrono::microseconds>>
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auto tb_start = chrono::high_resolution_clock::now();
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TableFactor actual = f1 * f2;
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auto tb_end = chrono::high_resolution_clock::now();
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auto tb_time_diff = chrono::duration_cast<chrono::microseconds>(tb_end - tb_start);
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auto tb_time_diff =
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chrono::duration_cast<chrono::microseconds>(tb_end - tb_start);
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// measure time DT
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auto dt_start = chrono::high_resolution_clock::now();
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DecisionTreeFactor actual_dt = f1_dt * f2_dt;
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auto dt_end = chrono::high_resolution_clock::now();
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auto dt_time_diff = chrono::duration_cast<chrono::microseconds>(dt_end - dt_start);
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auto dt_time_diff =
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chrono::duration_cast<chrono::microseconds>(dt_end - dt_start);
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bool flag = true;
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for (auto assignmentVal : actual_dt.enumerate()) {
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@ -86,35 +88,35 @@ map<double, pair<chrono::microseconds, chrono::microseconds>>
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return measured_times;
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}
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void printTime(map<double, pair<chrono::microseconds, chrono::microseconds>> measured_time) {
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void printTime(map<double, pair<chrono::microseconds, chrono::microseconds>>
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measured_time) {
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for (auto&& kv : measured_time) {
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cout << "dropout: " << kv.first << " | TableFactor time: "
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<< kv.second.first.count() << " | DecisionTreeFactor time: " << kv.second.second.count()
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<< endl;
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cout << "dropout: " << kv.first
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<< " | TableFactor time: " << kv.second.first.count()
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<< " | DecisionTreeFactor time: " << kv.second.second.count() << endl;
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}
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}
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/* ************************************************************************* */
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TEST( TableFactor, constructors)
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{
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// Check constructors for TableFactor.
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TEST(TableFactor, constructors) {
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// Declare a bunch of keys
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DiscreteKey X(0,2), Y(1,3), Z(2,2), A(3, 5);
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DiscreteKey X(0, 2), Y(1, 3), Z(2, 2), A(3, 5);
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// Create factors
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TableFactor f_zeros(A, {0, 0, 0, 0, 1});
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TableFactor f1(X, {2, 8});
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TableFactor f2(X & Y, "2 5 3 6 4 7");
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TableFactor f3(X & Y & Z, "2 5 3 6 4 7 25 55 35 65 45 75");
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EXPECT_LONGS_EQUAL(1,f1.size());
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EXPECT_LONGS_EQUAL(2,f2.size());
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EXPECT_LONGS_EQUAL(3,f3.size());
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EXPECT_LONGS_EQUAL(1, f1.size());
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EXPECT_LONGS_EQUAL(2, f2.size());
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EXPECT_LONGS_EQUAL(3, f3.size());
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DiscreteValues values;
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values[0] = 1; // x
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values[1] = 2; // y
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values[2] = 1; // z
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values[3] = 4; // a
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values[0] = 1; // x
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values[1] = 2; // y
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values[2] = 1; // z
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values[3] = 4; // a
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EXPECT_DOUBLES_EQUAL(1, f_zeros(values), 1e-9);
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EXPECT_DOUBLES_EQUAL(8, f1(values), 1e-9);
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EXPECT_DOUBLES_EQUAL(7, f2(values), 1e-9);
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@ -125,6 +127,7 @@ TEST( TableFactor, constructors)
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}
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/* ************************************************************************* */
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// Check multiplication between two TableFactors.
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TEST(TableFactor, multiplication) {
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DiscreteKey v0(0, 2), v1(1, 2), v2(2, 2);
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@ -133,7 +136,7 @@ TEST(TableFactor, multiplication) {
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TableFactor f1(v0 & v1, "1 2 3 4");
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DecisionTreeFactor expected(v0 & v1, "0.25 1.5 0.75 3");
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CHECK(assert_equal(expected, static_cast<DecisionTreeFactor>(prior) *
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f1.toDecisionTreeFactor()));
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f1.toDecisionTreeFactor()));
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CHECK(assert_equal(expected, f1 * prior));
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// Multiply two factors
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@ -148,74 +151,75 @@ TEST(TableFactor, multiplication) {
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TableFactor actual_zeros = f_zeros1 * f_zeros2;
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TableFactor expected3(A & B & C, "0 0 0 0 0 0 0 10 0 0 0 15");
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CHECK(assert_equal(expected3, actual_zeros));
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}
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/* ************************************************************************* */
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// Benchmark which compares runtime of multiplication of two TableFactors
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// and two DecisionTreeFactors given sparsity from dense to 90% sparsity.
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TEST(TableFactor, benchmark) {
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DiscreteKey A(0, 5), B(1, 2), C(2, 5), D(3, 2), E(4, 5),
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F(5, 2), G(6, 3), H(7, 2), I(8, 5), J(9, 7), K(10, 2), L(11, 3);
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DiscreteKey A(0, 5), B(1, 2), C(2, 5), D(3, 2), E(4, 5), F(5, 2), G(6, 3),
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H(7, 2), I(8, 5), J(9, 7), K(10, 2), L(11, 3);
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// 100
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DiscreteKeys one_1 = {A, B, C, D};
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DiscreteKeys one_2 = {C, D, E, F};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_1 =
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measureTime(one_1, one_2, 100);
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measureTime(one_1, one_2, 100);
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printTime(time_map_1);
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// 200
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DiscreteKeys two_1 = {A, B, C, D, F};
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DiscreteKeys two_2 = {B, C, D, E, F};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_2 =
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measureTime(two_1, two_2, 200);
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measureTime(two_1, two_2, 200);
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printTime(time_map_2);
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// 300
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DiscreteKeys three_1 = {A, B, C, D, G};
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DiscreteKeys three_2 = {C, D, E, F, G};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_3 =
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measureTime(three_1, three_2, 300);
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measureTime(three_1, three_2, 300);
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printTime(time_map_3);
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// 400
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DiscreteKeys four_1 = {A, B, C, D, F, H};
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DiscreteKeys four_2 = {B, C, D, E, F, H};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_4 =
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measureTime(four_1, four_2, 400);
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measureTime(four_1, four_2, 400);
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printTime(time_map_4);
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// 500
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DiscreteKeys five_1 = {A, B, C, D, I};
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DiscreteKeys five_2 = {C, D, E, F, I};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_5 =
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measureTime(five_1, five_2, 500);
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measureTime(five_1, five_2, 500);
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printTime(time_map_5);
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// 600
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DiscreteKeys six_1 = {A, B, C, D, F, G};
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DiscreteKeys six_2 = {B, C, D, E, F, G};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_6 =
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measureTime(six_1, six_2, 600);
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measureTime(six_1, six_2, 600);
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printTime(time_map_6);
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// 700
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DiscreteKeys seven_1 = {A, B, C, D, J};
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DiscreteKeys seven_2 = {C, D, E, F, J};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_7 =
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measureTime(seven_1, seven_2, 700);
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measureTime(seven_1, seven_2, 700);
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printTime(time_map_7);
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// 800
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DiscreteKeys eight_1 = {A, B, C, D, F, H, K};
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DiscreteKeys eight_2 = {B, C, D, E, F, H, K};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_8 =
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measureTime(eight_1, eight_2, 800);
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measureTime(eight_1, eight_2, 800);
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printTime(time_map_8);
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// 900
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DiscreteKeys nine_1 = {A, B, C, D, G, L};
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DiscreteKeys nine_2 = {C, D, E, F, G, L};
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map<double, pair<chrono::microseconds, chrono::microseconds>> time_map_9 =
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measureTime(nine_1, nine_2, 900);
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measureTime(nine_1, nine_2, 900);
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printTime(time_map_9);
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}
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/* ************************************************************************* */
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TEST( TableFactor, sum_max)
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{
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DiscreteKey v0(0,3), v1(1,2);
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// Check sum and max over frontals.
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TEST(TableFactor, sum_max) {
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DiscreteKey v0(0, 3), v1(1, 2);
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TableFactor f1(v0 & v1, "1 2 3 4 5 6");
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TableFactor expected(v1, "9 12");
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@ -274,10 +278,9 @@ TEST(TableFactor, Prune) {
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"0.0 0.0 0.0 0.60658897 0.61241912 0.61241969 0.61247685 0.61247742 0.0 "
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"0.0 0.0 0.99995287 1.0 1.0 1.0 1.0");
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TableFactor expected3(
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D & C & B & A,
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"0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 "
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"0.999952870000 1.0 1.0 1.0 1.0");
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TableFactor expected3(D & C & B & A,
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"0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 "
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"0.999952870000 1.0 1.0 1.0 1.0");
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maxNrAssignments = 5;
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auto pruned3 = factor.prune(maxNrAssignments);
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EXPECT(assert_equal(expected3, pruned3));
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@ -317,8 +320,7 @@ TEST(TableFactor, markdownWithValueFormatter) {
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"|Two|-|5|\n"
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"|Two|+|6|\n";
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auto keyFormatter = [](Key key) { return key == 12 ? "A" : "B"; };
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TableFactor::Names names{{12, {"Zero", "One", "Two"}},
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{5, {"-", "+"}}};
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TableFactor::Names names{{12, {"Zero", "One", "Two"}}, {5, {"-", "+"}}};
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string actual = f.markdown(keyFormatter, names);
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EXPECT(actual == expected);
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}
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@ -345,8 +347,7 @@ TEST(TableFactor, htmlWithValueFormatter) {
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"</table>\n"
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"</div>";
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auto keyFormatter = [](Key key) { return key == 12 ? "A" : "B"; };
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TableFactor::Names names{{12, {"Zero", "One", "Two"}},
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{5, {"-", "+"}}};
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TableFactor::Names names{{12, {"Zero", "One", "Two"}}, {5, {"-", "+"}}};
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string actual = f.html(keyFormatter, names);
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EXPECT(actual == expected);
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}
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