New test for DiscreteMarginals

gtsam/discrete/Assignment.h

@@ -29,7 +29,7 @@ namespace gtsam {
 	 * Assigns to each label a value. Implemented as a simple map.
 	 * A discrete factor takes an Assignment and returns a value.
 	 */
-	template <class L>
+	template<class L>
 	class Assignment: public std::map<L, size_t> {
 	public:
 		void print(const std::string& s = "Assignment: ") const {
@@ -42,6 +42,6 @@ namespace gtsam {
 		bool equals(const Assignment& other, double tol = 1e-9) const {
 			return (*this == other);
 		}
-	};
+	}; //Assignment
 
 } // namespace gtsam

gtsam/discrete/DiscreteMarginals.h

@@ -44,8 +44,6 @@ namespace gtsam {
 		typedef JunctionTree<DiscreteFactorGraph> DiscreteJT;
 		GenericMultifrontalSolver<DiscreteFactor, DiscreteJT> solver(graph);
 		bayesTree_ = *solver.eliminate(&EliminateDiscrete);
-		//bayesTree_.print();
-		cout << "Discrete Marginal Constructor Finished" << endl;
 	}
 
 	/** Compute the marginal of a single variable */

gtsam/discrete/tests/testDiscreteMarginals.cpp

@@ -51,6 +51,49 @@ TEST_UNSAFE( DiscreteMarginals, UGM_small ) {
 
   Vector actualCvector = marginals.marginalProbabilities(Cathy);
   EXPECT(assert_equal(Vector_(2, 0.359631, 0.640369), actualCvector, 1e-6));
+
+  actualCvector = marginals.marginalProbabilities(Mark);
+  EXPECT(assert_equal(Vector_(2, 0.48628, 0.51372), actualCvector, 1e-6));
+}
+
+TEST_UNSAFE( DiscreteMarginals, UGM_chain ) {
+
+	const int nrNodes = 10;
+	const size_t nrStates = 7;
+
+	// define variables
+	vector<DiscreteKey> nodes;
+	for (int i = 0; i < nrNodes; i++) {
+		DiscreteKey dk(i, nrStates);
+		nodes.push_back(dk);
+	}
+
+	// create graph
+	DiscreteFactorGraph graph;
+
+	// add node potentials
+	graph.add(nodes[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");
+
+	const std::string edgePotential =   ".08 .9 .01 0 0 0 .01 "
+																			".03 .95 .01 0 0 0 .01 "
+																			".06 .06 .75 .05 .05 .02 .01 "
+																			"0 0 0 .3 .6 .09 .01 "
+																			"0 0 0 .02 .95 .02 .01 "
+																			"0 0 0 .01 .01 .97 .01 "
+																			"0 0 0 0 0 0 1";
+
+	// add edge potentials
+	for (int i = 0; i < nrNodes - 1; i++)
+		graph.add(nodes[i] & nodes[i + 1], edgePotential);
+
+	DiscreteMarginals marginals(graph);
+	DiscreteFactor::shared_ptr actualC = marginals(nodes[2].first);
+	DiscreteFactor::Values values;
+
+	values[nodes[2].first] = 0;
+	EXPECT_DOUBLES_EQUAL( 0.03426, (*actualC)(values), 1e-4);
 }
 
 /* ************************************************************************* */