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forceOrder flag respects order of constrained variables passed to conditionalBayesNet

release/4.3a0
Frank Dellaert 2012-09-17 00:28:27 +00:00
parent bd8f9d0006
commit 34a9000134
1 changed files with 24 additions and 3 deletions
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27
gtsam/inference/tests/testSymbolicSequentialSolver.cpp
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@ -31,7 +31,7 @@ using namespace gtsam;
TEST( SymbolicSequentialSolver, SymbolicSequentialSolver ) { TEST( SymbolicSequentialSolver, SymbolicSequentialSolver ) {
// create factor graph // create factor graph
SymbolicFactorGraph g; SymbolicFactorGraph g;
g.push_factor(2, 2, 0); g.push_factor(2, 1, 0);
g.push_factor(2, 0); g.push_factor(2, 0);
g.push_factor(2); g.push_factor(2);
// test solver is Testable // test solver is Testable
@ -116,12 +116,33 @@ TEST( SymbolicSequentialSolver, inference ) {
SymbolicBayesNet::shared_ptr actualBN = // SymbolicBayesNet::shared_ptr actualBN = //
solver.conditionalBayesNet(js, nrFrontals); solver.conditionalBayesNet(js, nrFrontals);
SymbolicBayesNet expectedBN; SymbolicBayesNet expectedBN;
expectedBN.push_front(boost::make_shared<IndexConditional>(3, 2)); expectedBN.push_front(boost::make_shared<IndexConditional>(2, 3));
expectedBN.push_front(boost::make_shared<IndexConditional>(0, 3, 2)); expectedBN.push_front(boost::make_shared<IndexConditional>(0, 2, 3));
EXPECT( assert_equal(expectedBN,*actualBN)); EXPECT( assert_equal(expectedBN,*actualBN));
} }
} }
/* ************************************************************************* */
// This test shows a problem with my (Frank) attempt at a faster conditionalBayesNet
TEST( SymbolicSequentialSolver, problematicConditional ) {
// Create factor graph
SymbolicFactorGraph fg;
fg.push_factor(9, 12, 14);
// eliminate
SymbolicSequentialSolver solver(fg);
// conditionalBayesNet
vector<Index> js;
js.push_back(12);
js.push_back(14);
size_t nrFrontals = 1;
SymbolicBayesNet::shared_ptr actualBN = //
solver.conditionalBayesNet(js, nrFrontals);
SymbolicBayesNet expectedBN;
expectedBN.push_front(boost::make_shared<IndexConditional>(12,14));
EXPECT( assert_equal(expectedBN,*actualBN));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;