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Some more tests and comments about associated Bayes trees. All succeed on Mac.

release/4.3a0
dellaert 2015-02-13 20:22:52 +01:00
parent 0be63753bc
commit 36426fade4
3 changed files with 91 additions and 15 deletions
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26
.cproject
View File

@ -1277,7 +1277,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1317,7 +1316,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1325,7 +1323,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1429,6 +1426,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1723,6 +1721,7 @@
</target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1730,6 +1729,7 @@
</target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1737,6 +1737,7 @@
</target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1744,6 +1745,7 @@
</target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1935,7 +1937,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2087,6 +2088,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2094,6 +2096,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2141,6 +2144,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2148,6 +2152,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2155,6 +2160,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2170,6 +2176,7 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2671,6 +2678,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSymbolicBayesTree.run" path="build/gtsam/symbolic/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testSymbolicBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLago.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -3289,6 +3304,7 @@
</target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3296,6 +3312,7 @@
</target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3303,6 +3320,7 @@
</target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>

23
gtsam/inference/tests/testOrdering.cpp
View File

@ -241,11 +241,10 @@ TEST(Ordering, MetisLoop) {
// METIS
{
Ordering actual = Ordering::Create(Ordering::METIS, sfg);
// 0,3
// 1,3
// 2
// 4,0
// 5
// - P( 1 0 3)
// | - P( 4 | 0 3)
// | | - P( 5 | 0 4)
// | - P( 2 | 1 3)
Ordering expected = Ordering(list_of(5)(4)(2)(1)(0)(3));
EXPECT(assert_equal(expected, actual));
}
@ -259,6 +258,11 @@ TEST(Ordering, Create) {
// COLAMD
{
//- P( 4 5)
//| - P( 3 | 4)
//| | - P( 2 | 3)
//| | | - P( 1 | 2)
//| | | | - P( 0 | 1)
Ordering actual = Ordering::Create(Ordering::COLAMD, sfg);
Ordering expected = Ordering(list_of(0)(1)(2)(3)(4)(5));
EXPECT(assert_equal(expected, actual));
@ -267,12 +271,9 @@ TEST(Ordering, Create) {
// METIS
{
Ordering actual = Ordering::Create(Ordering::METIS, sfg);
// 2
// 0
// 1
// 4
// 3
// 5
//- P( 1 0 2)
//| - P( 3 4 | 2)
//| | - P( 5 | 4)
Ordering expected = Ordering(list_of(5)(3)(4)(1)(0)(2));
EXPECT(assert_equal(expected, actual));
}

57
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
View File

@ -691,6 +691,63 @@ TEST(SymbolicBayesTree, complicatedMarginal)
}
}
/* ************************************************************************* */
TEST(SymbolicBayesTree, COLAMDvsMETIS) {
// create circular graph
SymbolicFactorGraph sfg;
sfg.push_factor(0, 1);
sfg.push_factor(1, 2);
sfg.push_factor(2, 3);
sfg.push_factor(3, 4);
sfg.push_factor(4, 5);
sfg.push_factor(0, 5);
// COLAMD
{
Ordering ordering = Ordering::Create(Ordering::COLAMD, sfg);
EXPECT(assert_equal(Ordering(list_of(0)(5)(1)(4)(2)(3)), ordering));
// - P( 4 2 3)
// | - P( 1 | 2 4)
// | | - P( 5 | 1 4)
// | | | - P( 0 | 1 5)
SymbolicBayesTree expected;
expected.insertRoot(
MakeClique(list_of(4)(2)(3), 3,
list_of(
MakeClique(list_of(1)(2)(4), 1,
list_of(
MakeClique(list_of(5)(1)(4), 1,
list_of(MakeClique(list_of(0)(1)(5), 1))))))));
SymbolicBayesTree actual = *sfg.eliminateMultifrontal(ordering);
EXPECT(assert_equal(expected, actual));
}
// METIS
{
Ordering ordering = Ordering::Create(Ordering::METIS, sfg);
EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering));
// - P( 1 0 3)
// | - P( 4 | 0 3)
// | | - P( 5 | 0 4)
// | - P( 2 | 1 3)
SymbolicBayesTree expected;
expected.insertRoot(
MakeClique(list_of(1)(0)(3), 3,
list_of(
MakeClique(list_of(4)(0)(3), 1,
list_of(MakeClique(list_of(5)(0)(4), 1))))(
MakeClique(list_of(2)(1)(3), 1))));
SymbolicBayesTree actual = *sfg.eliminateMultifrontal(ordering);
EXPECT(assert_equal(expected, actual));
}
}
/* ************************************************************************* */
int main() {
TestResult tr;