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Move test where it belongs

release/4.3a0
Frank Dellaert 2024-09-28 20:09:24 -07:00
parent ea54525d37
commit 32c67892ed
2 changed files with 51 additions and 50 deletions
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51
gtsam/hybrid/tests/testHybridBayesNet.cpp
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@ -444,6 +444,57 @@ TEST(HybridBayesNet, Sampling) {
// num_samples))); // num_samples)));
} }
/* ****************************************************************************/
// Test hybrid gaussian factor graph errorTree when
// there is a HybridConditional in the graph
TEST(HybridBayesNet, ErrorTreeWithConditional) {
using symbol_shorthand::F;
Key z0 = Z(0), f01 = F(0);
Key x0 = X(0), x1 = X(1);
HybridBayesNet hbn;
auto prior_model = noiseModel::Isotropic::Sigma(1, 1e-1);
auto measurement_model = noiseModel::Isotropic::Sigma(1, 2.0);
// Set a prior P(x0) at x0=0
hbn.emplace_shared<GaussianConditional>(x0, Vector1(0.0), I_1x1, prior_model);
// Add measurement P(z0 | x0)
hbn.emplace_shared<GaussianConditional>(z0, Vector1(0.0), -I_1x1, x0, I_1x1,
measurement_model);
// Add hybrid motion model
double mu = 0.0;
double sigma0 = 1e2, sigma1 = 1e-2;
auto model0 = noiseModel::Isotropic::Sigma(1, sigma0);
auto model1 = noiseModel::Isotropic::Sigma(1, sigma1);
auto c0 = make_shared<GaussianConditional>(f01, Vector1(mu), I_1x1, x1, I_1x1,
x0, -I_1x1, model0),
c1 = make_shared<GaussianConditional>(f01, Vector1(mu), I_1x1, x1, I_1x1,
x0, -I_1x1, model1);
DiscreteKey m1(M(2), 2);
hbn.emplace_shared<HybridGaussianConditional>(m1, std::vector{c0, c1});
// Discrete uniform prior.
hbn.emplace_shared<DiscreteConditional>(m1, "0.5/0.5");
VectorValues given;
given.insert(z0, Vector1(0.0));
given.insert(f01, Vector1(0.0));
auto gfg = hbn.toFactorGraph(given);
VectorValues vv;
vv.insert(x0, Vector1(1.0));
vv.insert(x1, Vector1(2.0));
AlgebraicDecisionTree<Key> errorTree = gfg.errorTree(vv);
// regression
AlgebraicDecisionTree<Key> expected(m1, 59.335390372, 5050.125);
EXPECT(assert_equal(expected, errorTree, 1e-9));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;

50
gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
View File

@ -628,56 +628,6 @@ TEST(HybridGaussianFactorGraph, ErrorAndProbPrimeTree) {
EXPECT(assert_equal(expected_probabilities, probabilities, 1e-7)); EXPECT(assert_equal(expected_probabilities, probabilities, 1e-7));
} }
/* ****************************************************************************/
// Test hybrid gaussian factor graph errorTree when
// there is a HybridConditional in the graph
TEST(HybridGaussianFactorGraph, ErrorTreeWithConditional) {
using symbol_shorthand::F;
Key z0 = Z(0), f01 = F(0);
Key x0 = X(0), x1 = X(1);
HybridBayesNet hbn;
auto prior_model = noiseModel::Isotropic::Sigma(1, 1e-1);
auto measurement_model = noiseModel::Isotropic::Sigma(1, 2.0);
// Set a prior P(x0) at x0=0
hbn.emplace_shared<GaussianConditional>(x0, Vector1(0.0), I_1x1, prior_model);
// Add measurement P(z0 | x0)
hbn.emplace_shared<GaussianConditional>(z0, Vector1(0.0), -I_1x1, x0, I_1x1,
measurement_model);
// Add hybrid motion model
double mu = 0.0;
double sigma0 = 1e2, sigma1 = 1e-2;
auto model0 = noiseModel::Isotropic::Sigma(1, sigma0);
auto model1 = noiseModel::Isotropic::Sigma(1, sigma1);
auto c0 = make_shared<GaussianConditional>(f01, Vector1(mu), I_1x1, x1, I_1x1,
x0, -I_1x1, model0),
c1 = make_shared<GaussianConditional>(f01, Vector1(mu), I_1x1, x1, I_1x1,
x0, -I_1x1, model1);
hbn.emplace_shared<HybridGaussianConditional>(m1, std::vector{c0, c1});
// Discrete uniform prior.
hbn.emplace_shared<DiscreteConditional>(m1, "0.5/0.5");
VectorValues given;
given.insert(z0, Vector1(0.0));
given.insert(f01, Vector1(0.0));
auto gfg = hbn.toFactorGraph(given);
VectorValues vv;
vv.insert(x0, Vector1(1.0));
vv.insert(x1, Vector1(2.0));
AlgebraicDecisionTree<Key> errorTree = gfg.errorTree(vv);
// regression
AlgebraicDecisionTree<Key> expected(m1, 59.335390372, 5050.125);
EXPECT(assert_equal(expected, errorTree, 1e-9));
}
/* ****************************************************************************/ /* ****************************************************************************/
// Test hybrid gaussian factor graph errorTree during // Test hybrid gaussian factor graph errorTree during
// incremental operation // incremental operation