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Fixed computing shortcuts in BayesTree

release/4.3a0
Richard Roberts 2010-10-10 03:10:03 +00:00
parent 84d6b5be6a
commit 45456aab8e
9 changed files with 470 additions and 397 deletions
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@ -322,14 +322,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -356,6 +348,7 @@
</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>
@ -363,6 +356,7 @@
</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>
@ -410,6 +404,7 @@
</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>
@ -417,6 +412,7 @@
</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>
@ -424,6 +420,7 @@
</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>
@ -439,11 +436,20 @@
</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>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -478,7 +484,6 @@
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -574,7 +579,6 @@
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -582,7 +586,6 @@
</target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -590,7 +593,6 @@
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -598,7 +600,6 @@
</target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -606,7 +607,6 @@
</target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -614,7 +614,6 @@
</target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -820,6 +819,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianISAM.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianISAM.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="SimpleRotation.run" path="examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -918,6 +925,7 @@
</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>
@ -1253,7 +1261,6 @@
</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>
@ -1293,7 +1300,6 @@
</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>
@ -1301,7 +1307,6 @@
</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>
@ -1349,7 +1354,6 @@
</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>
@ -1371,6 +1375,86 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
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<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1467,86 +1551,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
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</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1901,14 +1905,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1935,6 +1931,7 @@
</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>
@ -1942,6 +1939,7 @@
</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>
@ -1989,6 +1987,7 @@
</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>
@ -1996,6 +1995,7 @@
</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>
@ -2003,6 +2003,7 @@
</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>
@ -2018,11 +2019,20 @@
</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>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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</target>
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<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2057,7 +2067,6 @@
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -2153,7 +2162,6 @@
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments/>
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@ -2161,7 +2169,6 @@
</target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2169,7 +2176,6 @@
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments/>
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@ -2177,7 +2183,6 @@
</target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
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<stopOnError>true</stopOnError>
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@ -2185,7 +2190,6 @@
</target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2193,7 +2197,6 @@
</target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2399,6 +2402,14 @@
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<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2497,6 +2508,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2832,7 +2844,6 @@
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2872,7 +2883,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments/>
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@ -2880,7 +2890,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2928,7 +2937,6 @@
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2950,6 +2958,86 @@
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -3046,86 +3134,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>

141
inference/BayesTree-inl.h
View File

@ -16,6 +16,7 @@
#include <boost/format.hpp>
#include <boost/lambda/lambda.hpp>
#include <boost/iterator/transform_iterator.hpp>
#include <boost/pool/pool_alloc.hpp>
#include <fstream>
using namespace boost::assign;
namespace lam = boost::lambda;
@ -248,67 +249,85 @@ namespace gtsam {
return stats;
}
// /* ************************************************************************* */
// // The shortcut density is a conditional P(S|R) of the separator of this
// // clique on the root. We can compute it recursively from the parent shortcut
// // P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p
// // TODO, why do we actually return a shared pointer, why does eliminate?
// /* ************************************************************************* */
// template<class Conditional>
// template<class Factor>
// BayesNet<Conditional>
// BayesTree<Conditional>::Clique::shortcut(shared_ptr R) {
// // A first base case is when this clique or its parent is the root,
// // in which case we return an empty Bayes net.
//
// if (R.get()==this || parent_==R) {
// BayesNet<Conditional> empty;
// return empty;
// }
//
// // The parent clique has a Conditional for each frontal node in Fp
// // so we can obtain P(Fp|Sp) in factor graph form
// FactorGraph<Factor> p_Fp_Sp(*parent_);
//
// // If not the base case, obtain the parent shortcut P(Sp|R) as factors
// FactorGraph<Factor> p_Sp_R(parent_->shortcut<Factor>(R));
//
// // now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R)
// FactorGraph<Factor> p_Cp_R = combine(p_Fp_Sp, p_Sp_R);
//
// // Eliminate into a Bayes net with ordering designed to integrate out
// // any variables not in *our* separator. Variables to integrate out must be
// // eliminated first hence the desired ordering is [Cp\S S].
// // However, an added wrinkle is that Cp might overlap with the root.
// // Keys corresponding to the root should not be added to the ordering at all.
//
// // Get the key list Cp=Fp+Sp, which will form the basis for the integrands
// Ordering integrands = parent_->keys();
//
// // Start ordering with the separator
// Ordering ordering = separator_;
//
// // remove any variables in the root, after this integrands = Cp\R, ordering = S\R
// BOOST_FOREACH(varid_t key, R->ordering()) {
// integrands.remove(key);
// ordering.remove(key);
// }
//
// // remove any variables in the separator, after this integrands = Cp\R\S
// BOOST_FOREACH(varid_t key, separator_) integrands.remove(key);
//
// // form the ordering as [Cp\R\S S\R]
// BOOST_REVERSE_FOREACH(varid_t key, integrands) ordering.push_front(key);
//
// // eliminate to get marginal
// BayesNet<Conditional> p_S_R = eliminate<Factor,Conditional>(p_Cp_R,ordering);
//
// // remove all integrands
// BOOST_FOREACH(varid_t key, integrands) p_S_R.pop_front();
//
// // return the parent shortcut P(Sp|R)
// return p_S_R;
// }
/* ************************************************************************* */
// The shortcut density is a conditional P(S|R) of the separator of this
// clique on the root. We can compute it recursively from the parent shortcut
// P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p
// TODO, why do we actually return a shared pointer, why does eliminate?
/* ************************************************************************* */
template<class Conditional>
template<class FactorGraph>
BayesNet<Conditional>
BayesTree<Conditional>::Clique::shortcut(shared_ptr R) {
// A first base case is when this clique or its parent is the root,
// in which case we return an empty Bayes net.
sharedClique parent(parent_.lock());
if (R.get()==this || parent==R) {
BayesNet<Conditional> empty;
return empty;
}
// The parent clique has a Conditional for each frontal node in Fp
// so we can obtain P(Fp|Sp) in factor graph form
FactorGraph p_Fp_Sp(*parent);
// If not the base case, obtain the parent shortcut P(Sp|R) as factors
FactorGraph p_Sp_R(parent->shortcut<FactorGraph>(R));
// now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R)
FactorGraph p_Cp_R = combine(p_Fp_Sp, p_Sp_R);
// Eliminate into a Bayes net with ordering designed to integrate out
// any variables not in *our* separator. Variables to integrate out must be
// eliminated first hence the desired ordering is [Cp\S S].
// However, an added wrinkle is that Cp might overlap with the root.
// Keys corresponding to the root should not be added to the ordering at all.
typedef set<varid_t, std::less<varid_t>, boost::fast_pool_allocator<varid_t> > FastJSet;
// Get the key list Cp=Fp+Sp, which will form the basis for the integrands
vector<varid_t> parentKeys(parent->keys());
FastJSet integrands(parentKeys.begin(), parentKeys.end());
// Start ordering with the separator
FastJSet separator(separator_.begin(), separator_.end());
// remove any variables in the root, after this integrands = Cp\R, ordering = S\R
BOOST_FOREACH(varid_t key, R->ordering()) {
integrands.erase(key);
separator.erase(key);
}
// remove any variables in the separator, after this integrands = Cp\R\S
BOOST_FOREACH(varid_t key, separator_) integrands.erase(key);
// form the ordering as [Cp\R\S S\R]
vector<varid_t> ordering; ordering.reserve(integrands.size() + separator.size());
BOOST_FOREACH(varid_t key, integrands) ordering.push_back(key);
BOOST_FOREACH(varid_t key, separator) ordering.push_back(key);
// eliminate to get marginal
typename FactorGraph::variableindex_type varIndex(p_Cp_R);
Permutation toFront = Permutation::PullToFront(ordering, varIndex.size());
Permutation::shared_ptr toFrontInverse(toFront.inverse());
BOOST_FOREACH(const typename FactorGraph::sharedFactor& factor, p_Cp_R) {
factor->permuteWithInverse(*toFrontInverse);
}
varIndex.permute(toFront);
BayesNet<Conditional> p_S_R = *Inference::EliminateUntil(p_Cp_R, ordering.size(), varIndex);
// remove all integrands
for(varid_t j=0; j<integrands.size(); ++j)
p_S_R.pop_front();
// Undo the permutation on the shortcut
p_S_R.permuteWithInverse(toFront);
// return the parent shortcut P(Sp|R)
return p_S_R;
}
// /* ************************************************************************* */
// // P(C) = \int_R P(F|S) P(S|R) P(R)

10
inference/BayesTree.h
View File

@ -94,11 +94,11 @@ namespace gtsam {
*/
bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
// /** return the conditional P(S|Root) on the separator given the root */
// // TODO: create a cached version
// template<class Factor>
// BayesNet<Conditional> shortcut(shared_ptr root);
//
/** return the conditional P(S|Root) on the separator given the root */
// TODO: create a cached version
template<class FactorGraph>
BayesNet<Conditional> shortcut(shared_ptr root);
// /** return the marginal P(C) of the clique */
// template<class Factor>
// FactorGraph<Factor> marginal(shared_ptr root);

7
inference/FactorGraph-inl.h
View File

@ -359,11 +359,10 @@ namespace gtsam {
// }
/* ************************************************************************* */
template<class Factor>
FactorGraph<Factor> combine(const FactorGraph<Factor>& fg1,
const FactorGraph<Factor>& fg2) {
template<class FactorGraph>
FactorGraph combine(const FactorGraph& fg1, const FactorGraph& fg2) {
// create new linear factor graph equal to the first one
FactorGraph<Factor> fg = fg1;
FactorGraph fg = fg1;
// add the second factors_ in the graph
fg.push_back(fg2);

9
inference/FactorGraph.h
View File

@ -188,8 +188,8 @@ namespace gtsam {
* @param const &fg2 Linear factor graph
* @return a new combined factor graph
*/
template<class Factor>
FactorGraph<Factor> combine(const FactorGraph<Factor>& fg1, const FactorGraph<Factor>& fg2);
template<class FactorGraph>
FactorGraph combine(const FactorGraph& fg1, const FactorGraph& fg2);
// /**
// * Extract and combine all the factors that involve a given node
@ -214,7 +214,10 @@ namespace gtsam {
FactorGraph<Factor>::FactorGraph(const Derived& factorGraph) {
factors_.reserve(factorGraph.size());
BOOST_FOREACH(const typename Derived::sharedFactor& factor, factorGraph) {
this->push_back(factor);
if(factor)
this->push_back(sharedFactor(new Factor(*factor)));
else
this->push_back(sharedFactor());
}
}

3
inference/Makefile.am
View File

@ -24,9 +24,8 @@ check_PROGRAMS += tests/testVariableIndex tests/testVariableSlots
# Inference
headers += inference-inl.h VariableSlots-inl.h
sources += inference.cpp VariableSlots.cpp
sources += inference.cpp VariableSlots.cpp Permutation.cpp
headers += graph.h graph-inl.h
headers += Permutation.h
headers += VariableIndex.h
headers += FactorGraph.h FactorGraph-inl.h
headers += ClusterTree.h ClusterTree-inl.h

88
inference/Permutation.cpp Normal file
View File

@ -0,0 +1,88 @@
/**
* @file Permutation.cpp
* @brief
* @author Richard Roberts
* @created Oct 9, 2010
*/
#include <gtsam/inference/Permutation.h>
#include <iostream>
#include <boost/foreach.hpp>
using namespace std;
namespace gtsam {
/* ************************************************************************* */
Permutation Permutation::Identity(varid_t nVars) {
Permutation ret(nVars);
for(varid_t i=0; i<nVars; ++i)
ret[i] = i;
return ret;
}
/* ************************************************************************* */
Permutation Permutation::PullToFront(const vector<varid_t>& toFront, size_t size) {
Permutation ret(size);
// Mask of which variables have been pulled, used to reorder
vector<bool> pulled(size, false);
for(varid_t j=0; j<toFront.size(); ++j) {
ret[j] = toFront[j];
pulled[toFront[j]] = true;
assert(toFront[j] < size);
}
varid_t nextVar = toFront.size();
for(varid_t j=0; j<size; ++j)
if(!pulled[j])
ret[nextVar++] = j;
assert(nextVar == size);
return ret;
}
/* ************************************************************************* */
Permutation::shared_ptr Permutation::permute(const Permutation& permutation) const {
const size_t nVars = permutation.size();
Permutation::shared_ptr result(new Permutation(nVars));
for(size_t j=0; j<nVars; ++j) {
assert(permutation[j] < rangeIndices_.size());
(*result)[j] = operator[](permutation[j]);
}
return result;
}
/* ************************************************************************* */
Permutation::shared_ptr Permutation::partialPermutation(
const Permutation& selector, const Permutation& partialPermutation) const {
assert(selector.size() == partialPermutation.size());
Permutation::shared_ptr result(new Permutation(*this));
for(varid_t subsetPos=0; subsetPos<selector.size(); ++subsetPos)
(*result)[selector[subsetPos]] = (*this)[selector[partialPermutation[subsetPos]]];
return result;
}
/* ************************************************************************* */
Permutation::shared_ptr Permutation::inverse() const {
Permutation::shared_ptr result(new Permutation(this->size()));
for(varid_t i=0; i<this->size(); ++i) {
assert((*this)[i] < this->size());
(*result)[(*this)[i]] = i;
}
return result;
}
/* ************************************************************************* */
void Permutation::print(const std::string& str) const {
std::cout << str;
BOOST_FOREACH(varid_t s, rangeIndices_) { std::cout << s << " "; }
std::cout << std::endl;
}
}

56
inference/Permutation.h
View File

@ -10,7 +10,7 @@
#include <gtsam/base/types.h>
#include <vector>
#include <iostream>
#include <string>
#include <boost/shared_ptr.hpp>
namespace gtsam {
@ -81,6 +81,12 @@ public:
*/
static Permutation Identity(varid_t nVars);
/**
* Create a permutation that pulls the given variables to the front while
* pushing the rest to the back.
*/
static Permutation PullToFront(const std::vector<varid_t>& toFront, size_t size);
iterator begin() { return rangeIndices_.begin(); }
const_iterator begin() const { return rangeIndices_.begin(); }
iterator end() { return rangeIndices_.end(); }
@ -180,52 +186,4 @@ public:
};
/* ************************************************************************* */
inline Permutation Permutation::Identity(varid_t nVars) {
Permutation ret(nVars);
for(varid_t i=0; i<nVars; ++i)
ret[i] = i;
return ret;
}
/* ************************************************************************* */
inline Permutation::shared_ptr Permutation::permute(const Permutation& permutation) const {
const size_t nVars = permutation.size();
Permutation::shared_ptr result(new Permutation(nVars));
for(size_t j=0; j<nVars; ++j) {
assert(permutation[j] < rangeIndices_.size());
(*result)[j] = operator[](permutation[j]);
}
return result;
}
/* ************************************************************************* */
inline Permutation::shared_ptr Permutation::partialPermutation(
const Permutation& selector, const Permutation& partialPermutation) const {
assert(selector.size() == partialPermutation.size());
Permutation::shared_ptr result(new Permutation(*this));
for(varid_t subsetPos=0; subsetPos<selector.size(); ++subsetPos)
(*result)[selector[subsetPos]] = (*this)[selector[partialPermutation[subsetPos]]];
return result;
}
/* ************************************************************************* */
inline Permutation::shared_ptr Permutation::inverse() const {
Permutation::shared_ptr result(new Permutation(this->size()));
for(varid_t i=0; i<this->size(); ++i) {
assert((*this)[i] < this->size());
(*result)[(*this)[i]] = i;
}
return result;
}
/* ************************************************************************* */
inline void Permutation::print(const std::string& str) const {
std::cout << str;
BOOST_FOREACH(varid_t s, rangeIndices_) { std::cout << s << " "; }
std::cout << std::endl;
}
}

149
tests/testGaussianISAM.cpp
View File

@ -93,51 +93,50 @@ C3 x4 : x5
C4 x3 : x4
C5 x2 : x3
C6 x1 : x2
/* ************************************************************************* */
// SL-FIX TEST( BayesTree, linear_smoother_shortcuts )
//{
// // Create smoother with 7 nodes
// GaussianFactorGraph smoother = createSmoother(7);
// Ordering ordering;
// for (int t = 1; t <= 7; t++)
// ordering.push_back(symbol('x', t));
//
// // eliminate using the "natural" ordering
// GaussianBayesNet chordalBayesNet = smoother.eliminate(ordering);
//
// // Create the Bayes tree
// GaussianISAM bayesTree(chordalBayesNet);
// LONGS_EQUAL(6,bayesTree.size());
//
// // Check the conditional P(Root|Root)
// GaussianBayesNet empty;
// GaussianISAM::sharedClique R = bayesTree.root();
// GaussianBayesNet actual1 = R->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(empty,actual1,tol));
//
// // Check the conditional P(C2|Root)
// GaussianISAM::sharedClique C2 = bayesTree["x5"];
// GaussianBayesNet actual2 = C2->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(empty,actual2,tol));
//
// // Check the conditional P(C3|Root)
// double sigma3 = 0.61808;
// Matrix A56 = Matrix_(2,2,-0.382022,0.,0.,-0.382022);
// GaussianBayesNet expected3;
// push_front(expected3,"x5", zero(2), eye(2)/sigma3, "x6", A56/sigma3, ones(2));
// GaussianISAM::sharedClique C3 = bayesTree["x4"];
// GaussianBayesNet actual3 = C3->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(expected3,actual3,tol));
//
// // Check the conditional P(C4|Root)
// double sigma4 = 0.661968;
// Matrix A46 = Matrix_(2,2,-0.146067,0.,0.,-0.146067);
// GaussianBayesNet expected4;
// push_front(expected4,"x4", zero(2), eye(2)/sigma4, "x6", A46/sigma4, ones(2));
// GaussianISAM::sharedClique C4 = bayesTree["x3"];
// GaussianBayesNet actual4 = C4->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(expected4,actual4,tol));
//}
**************************************************************************** */
TEST( BayesTree, linear_smoother_shortcuts )
{
// Create smoother with 7 nodes
Ordering ordering;
GaussianFactorGraph smoother;
boost::tie(smoother, ordering) = createSmoother(7);
// eliminate using the "natural" ordering
GaussianBayesNet chordalBayesNet = *Inference::Eliminate(smoother);
// Create the Bayes tree
GaussianISAM bayesTree(chordalBayesNet);
LONGS_EQUAL(6,bayesTree.size());
// Check the conditional P(Root|Root)
GaussianBayesNet empty;
GaussianISAM::sharedClique R = bayesTree.root();
GaussianBayesNet actual1 = R->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(empty,actual1,tol));
// Check the conditional P(C2|Root)
GaussianISAM::sharedClique C2 = bayesTree[ordering["x5"]];
GaussianBayesNet actual2 = C2->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(empty,actual2,tol));
// Check the conditional P(C3|Root)
double sigma3 = 0.61808;
Matrix A56 = Matrix_(2,2,-0.382022,0.,0.,-0.382022);
GaussianBayesNet expected3;
push_front(expected3,ordering["x5"], zero(2), eye(2)/sigma3, ordering["x6"], A56/sigma3, ones(2));
GaussianISAM::sharedClique C3 = bayesTree[ordering["x4"]];
GaussianBayesNet actual3 = C3->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(expected3,actual3,tol));
// Check the conditional P(C4|Root)
double sigma4 = 0.661968;
Matrix A46 = Matrix_(2,2,-0.146067,0.,0.,-0.146067);
GaussianBayesNet expected4;
push_front(expected4, ordering["x4"], zero(2), eye(2)/sigma4, ordering["x6"], A46/sigma4, ones(2));
GaussianISAM::sharedClique C4 = bayesTree[ordering["x3"]];
GaussianBayesNet actual4 = C4->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(expected4,actual4,tol));
}
/* ************************************************************************* *
Bayes tree for smoother with "nested dissection" ordering:
@ -157,7 +156,7 @@ C6 x1 : x2
C3 x1 : x2
C4 x7 : x6
/* ************************************************************************* */
************************************************************************* */
// SL-FIX TEST( BayesTree, balanced_smoother_marginals )
//{
// // Create smoother with 7 nodes
@ -208,35 +207,35 @@ C6 x1 : x2
//}
/* ************************************************************************* */
// SL-FIX TEST( BayesTree, balanced_smoother_shortcuts )
//{
// // Create smoother with 7 nodes
// GaussianFactorGraph smoother = createSmoother(7);
// Ordering ordering;
// ordering += "x1","x3","x5","x7","x2","x6","x4";
//
// // Create the Bayes tree
// GaussianBayesNet chordalBayesNet = smoother.eliminate(ordering);
// GaussianISAM bayesTree(chordalBayesNet);
//
// // Check the conditional P(Root|Root)
// GaussianBayesNet empty;
// GaussianISAM::sharedClique R = bayesTree.root();
// GaussianBayesNet actual1 = R->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(empty,actual1,tol));
//
// // Check the conditional P(C2|Root)
// GaussianISAM::sharedClique C2 = bayesTree["x3"];
// GaussianBayesNet actual2 = C2->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(empty,actual2,tol));
//
// // Check the conditional P(C3|Root), which should be equal to P(x2|x4)
// GaussianConditional::shared_ptr p_x2_x4 = chordalBayesNet["x2"];
// GaussianBayesNet expected3; expected3.push_back(p_x2_x4);
// GaussianISAM::sharedClique C3 = bayesTree["x1"];
// GaussianBayesNet actual3 = C3->shortcut<GaussianFactor>(R);
// CHECK(assert_equal(expected3,actual3,tol));
//}
TEST( BayesTree, balanced_smoother_shortcuts )
{
// Create smoother with 7 nodes
Ordering ordering;
ordering += "x1","x3","x5","x7","x2","x6","x4";
GaussianFactorGraph smoother = createSmoother(7, ordering).first;
// Create the Bayes tree
GaussianBayesNet chordalBayesNet = *Inference::Eliminate(smoother);
GaussianISAM bayesTree(chordalBayesNet);
// Check the conditional P(Root|Root)
GaussianBayesNet empty;
GaussianISAM::sharedClique R = bayesTree.root();
GaussianBayesNet actual1 = R->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(empty,actual1,tol));
// Check the conditional P(C2|Root)
GaussianISAM::sharedClique C2 = bayesTree[ordering["x3"]];
GaussianBayesNet actual2 = C2->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(empty,actual2,tol));
// Check the conditional P(C3|Root), which should be equal to P(x2|x4)
GaussianConditional::shared_ptr p_x2_x4 = chordalBayesNet[ordering["x2"]];
GaussianBayesNet expected3; expected3.push_back(p_x2_x4);
GaussianISAM::sharedClique C3 = bayesTree[ordering["x1"]];
GaussianBayesNet actual3 = C3->shortcut<GaussianFactorGraph>(R);
CHECK(assert_equal(expected3,actual3,tol));
}
/* ************************************************************************* */
// SL-FIX TEST( BayesTree, balanced_smoother_clique_marginals )