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Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans

release/4.3a0
Michael Kaess 2009-11-22 17:40:24 +00:00
parent 53754ccbb8
commit 45292f7bd6
3 changed files with 29 additions and 7 deletions
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20
cpp/BayesTree-inl.h
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@ -171,6 +171,20 @@ namespace gtsam {
return marginalize<Factor,Conditional>(*bn,keys12);
}
/* ************************************************************************* */
template<class Conditional>
void BayesTree<Conditional>::Cliques::print(const std::string& s) const {
cout << s << " Cliques: ";
BOOST_FOREACH(sharedClique clique, *this)
clique->print();
}
/* ************************************************************************* */
template<class Conditional>
bool BayesTree<Conditional>::Cliques::equals(const Cliques& other, double tol) const {
return other == *this;
}
/* ************************************************************************* */
template<class Conditional>
typename BayesTree<Conditional>::sharedClique BayesTree<Conditional>::addClique
@ -357,14 +371,16 @@ namespace gtsam {
// base case is NULL, if so we do nothing and return empties above
if (clique!=NULL) {
// remove me
removeClique(clique);
// remove path above me
boost::tie(factors,orphans) = removePath<Factor>(clique->parent_);
// add children to list of orphans
orphans.insert(orphans.begin(), clique->children_.begin(), clique->children_.end());
// remove me and add my factors
removeClique(clique);
// add myself to factors
factors.push_back(*clique);
}

4
cpp/BayesTree.h
View File

@ -86,8 +86,8 @@ namespace gtsam {
// A convenience class for a list of shared cliques
struct Cliques : public std::list<sharedClique>, public Testable<Cliques> {
void print(const std::string& s = "") const {}
bool equals(const Cliques& other, double tol = 1e-9) const { return false; }
void print(const std::string& s = "Cliques") const;
bool equals(const Cliques& other, double tol = 1e-9) const;
};
private:

12
cpp/testBayesTree.cpp
View File

@ -331,18 +331,24 @@ TEST( BayesTree, removePath )
expected.push_factor("A","B");
expected.push_factor("A");
expected.push_factor("A","C");
SymbolicBayesTree::Cliques expectedOrphans;
expectedOrphans += bayesTree["D"], bayesTree["E"];
FactorGraph<SymbolicFactor> factors;
SymbolicBayesTree::Cliques orphans;
boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
CHECK(assert_equal(expectedOrphans, orphans));
// remove E: factor graph with EB; E|B removed from second orphan tree
SymbolicFactorGraph expected3;
expected3.push_factor("B","E");
SymbolicFactorGraph expected2;
expected2.push_factor("B","E");
SymbolicBayesTree::Cliques expectedOrphans2;
expectedOrphans2 += bayesTree["F"];
boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["E"]);
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected3, factors));
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected2, factors));
CHECK(assert_equal(expectedOrphans2, orphans));
}
/* ************************************************************************* */