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hybrid serialization tests

release/4.3a0
Varun Agrawal 2023-01-03 16:49:37 -05:00
parent 0ab15cc456
commit 3f2bff8e1d
1 changed files with 100 additions and 0 deletions
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gtsam/hybrid/tests/testSerializationHybrid.cpp Normal file
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testSerializationHybrid.cpp
* @brief Unit tests for hybrid serialization
* @author Varun Agrawal
* @date January 2023
*/
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridDiscreteFactor.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/inference/Symbol.h>
// Include for test suite
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
using symbol_shorthand::M;
using symbol_shorthand::X;
using namespace serializationTestHelpers;
BOOST_CLASS_EXPORT_GUID(HybridFactor, "gtsam_HybridFactor");
BOOST_CLASS_EXPORT_GUID(JacobianFactor, "gtsam_JacobianFactor");
BOOST_CLASS_EXPORT_GUID(DecisionTreeFactor, "gtsam_DecisionTreeFactor");
using ADT = AlgebraicDecisionTree<Key>;
BOOST_CLASS_EXPORT_GUID(ADT, "gtsam_AlgebraicDecisionTree");
BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_DecisionTree_Leaf")
BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_DecisionTree_Choice")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor, "gtsam_GaussianMixtureFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors, "gtsam_GaussianMixtureFactor_Factors")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors::Leaf, "gtsam_GaussianMixtureFactor_Factors_Leaf")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors::Choice, "gtsam_GaussianMixtureFactor_Factors_Choice")
// BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixture, "gtsam_GaussianMixture")
// BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixture::Conditionals,
// "gtsam_GaussianMixture_Conditionals")
/* ****************************************************************************/
// Test HybridGaussianFactor serialization.
TEST(HybridSerialization, HybridGaussianFactor) {
const HybridGaussianFactor factor(JacobianFactor(X(0), I_3x3, Z_3x1));
EXPECT(equalsObj<HybridGaussianFactor>(factor));
EXPECT(equalsXML<HybridGaussianFactor>(factor));
EXPECT(equalsBinary<HybridGaussianFactor>(factor));
}
/* ****************************************************************************/
// Test HybridDiscreteFactor serialization.
TEST(HybridSerialization, HybridDiscreteFactor) {
DiscreteKeys discreteKeys{{M(0), 2}};
const HybridDiscreteFactor factor(
DecisionTreeFactor(discreteKeys, std::vector<double>{0.4, 0.6}));
EXPECT(equalsObj<HybridDiscreteFactor>(factor));
EXPECT(equalsXML<HybridDiscreteFactor>(factor));
EXPECT(equalsBinary<HybridDiscreteFactor>(factor));
}
/* ****************************************************************************/
// Test GaussianMixtureFactor serialization.
TEST(HybridSerialization, GaussianMixtureFactor) {
KeyVector continuousKeys{X(0)};
DiscreteKeys discreteKeys{{M(0), 2}};
auto A = Matrix::Zero(2, 1);
auto b0 = Matrix::Zero(2, 1);
auto b1 = Matrix::Ones(2, 1);
auto f0 = boost::make_shared<JacobianFactor>(X(0), A, b0);
auto f1 = boost::make_shared<JacobianFactor>(X(0), A, b1);
std::vector<GaussianFactor::shared_ptr> factors{f0, f1};
const GaussianMixtureFactor factor(continuousKeys, discreteKeys, factors);
EXPECT(equalsObj<GaussianMixtureFactor>(factor));
EXPECT(equalsXML<GaussianMixtureFactor>(factor));
EXPECT(equalsBinary<GaussianMixtureFactor>(factor));
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */