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Merge pull request #47 from borglab/fix/bayesTree 

Fix/bayes tree
release/4.3a0
Frank Dellaert 2019-06-04 18:17:10 -04:00 committed by GitHub
parent f2e3e81572 f27964a6cd
commit 46331dd413
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 21 additions and 17 deletions
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3
.travis.sh
View File

@ -23,9 +23,10 @@ function build_and_test ()
fi
cmake $SOURCE_DIR \
-DGTSAM_BUILD_TESTS=$GTSAM_BUILD_TESTS \
-DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
-DGTSAM_BUILD_EXAMPLES_ALWAYS=$GTSAM_BUILD_EXAMPLES_ALWAYS \
-DGTSAM_BUILD_TESTS=$GTSAM_BUILD_TESTS
-DGTSAM_ALLOW_DEPRECATED_SINCE_V4=$GTSAM_ALLOW_DEPRECATED_SINCE_V4
# Actual build:
make -j2

15
.travis.yml
View File

@ -36,19 +36,22 @@ matrix:
include:
- compiler: gcc
os: linux
env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=OFF GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON
- compiler: gcc
os: linux
env: GTSAM_BUILD_UNSTABLE=OFF GTSAM_BUILD_EXAMPLES_ALWAYS=OFF GTSAM_BUILD_TESTS=ON # gcc too slow for all tests
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=ON GTSAM_BUILD_UNSTABLE=OFF GTSAM_BUILD_EXAMPLES_ALWAYS=OFF # gcc too slow for all tests
- compiler: gcc
os: linux
env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF GCC_VERSION="8"
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=OFF GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GCC_VERSION="8"
- compiler: clang
os: linux
env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=ON GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON
- compiler: clang
os: linux
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON GTSAM_BUILD_TESTS=ON GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON
# - compiler: gcc
# os: osx
# env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
# env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=OFF GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON
- compiler: clang
os: osx
env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=OFF GTSAM_BUILD_TESTS=ON
env: GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF GTSAM_BUILD_TESTS=ON GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=OFF

20
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
View File

@ -144,7 +144,7 @@ TEST( BayesTree, removePath )
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removePath(bayesTree[_C_], bn, orphans);
bayesTree.removePath(bayesTree[_C_], &bn, &orphans);
SymbolicFactorGraph factors(bn);
CHECK(assert_equal(expected, factors));
CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
@ -161,7 +161,7 @@ TEST( BayesTree, removePath )
SymbolicBayesNet bn2;
SymbolicBayesTree::Cliques orphans2;
bayesTree.removePath(bayesTree[_E_], bn2, orphans2);
bayesTree.removePath(bayesTree[_E_], &bn2, &orphans2);
SymbolicFactorGraph factors2(bn2);
CHECK(assert_equal(expected2, factors2));
CHECK(assert_container_equal(expectedOrphans2|indirected, orphans2|indirected));
@ -175,7 +175,7 @@ TEST( BayesTree, removePath2 )
// Call remove-path with clique B
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removePath(bayesTree[_B_], bn, orphans);
bayesTree.removePath(bayesTree[_B_], &bn, &orphans);
SymbolicFactorGraph factors(bn);
// Check expected outcome
@ -195,7 +195,7 @@ TEST(BayesTree, removePath3)
// Call remove-path with clique T
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removePath(bayesTree[_T_], bn, orphans);
bayesTree.removePath(bayesTree[_T_], &bn, &orphans);
SymbolicFactorGraph factors(bn);
// Check expected outcome
@ -279,7 +279,7 @@ TEST( BayesTree, removeTop )
// Remove the contaminated part of the Bayes tree
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removeTop(list_of(_B_)(_S_), bn, orphans);
bayesTree.removeTop(list_of(_B_)(_S_), &bn, &orphans);
// Check expected outcome
SymbolicBayesNet expected;
@ -295,7 +295,7 @@ TEST( BayesTree, removeTop )
//boost::shared_ptr<IndexFactor> newFactor2(new IndexFactor(_B_));
SymbolicBayesNet bn2;
SymbolicBayesTree::Cliques orphans2;
bayesTree.removeTop(list_of(_B_), bn2, orphans2);
bayesTree.removeTop(list_of(_B_), &bn2, &orphans2);
SymbolicFactorGraph factors2(bn2);
SymbolicFactorGraph expected2;
CHECK(assert_equal(expected2, factors2));
@ -316,7 +316,7 @@ TEST( BayesTree, removeTop2 )
// Remove the contaminated part of the Bayes tree
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removeTop(list_of(_T_), bn, orphans);
bayesTree.removeTop(list_of(_T_), &bn, &orphans);
// Check expected outcome
SymbolicBayesNet expected = list_of
@ -343,7 +343,7 @@ TEST( BayesTree, removeTop3 )
// remove all
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removeTop(list_of(L(5))(X(4))(X(2))(X(3)), bn, orphans);
bayesTree.removeTop(list_of(L(5))(X(4))(X(2))(X(3)), &bn, &orphans);
SymbolicBayesNet expectedBn = list_of
(SymbolicConditional::FromKeys(list_of(X(4))(L(5)), 2))
@ -367,7 +367,7 @@ TEST( BayesTree, removeTop4 )
// remove all
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removeTop(list_of(X(2))(L(5))(X(4))(X(3)), bn, orphans);
bayesTree.removeTop(list_of(X(2))(L(5))(X(4))(X(3)), &bn, &orphans);
SymbolicBayesNet expectedBn = list_of
(SymbolicConditional::FromKeys(list_of(X(4))(L(5)), 2))
@ -392,7 +392,7 @@ TEST( BayesTree, removeTop5 )
// Remove nonexistant
SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans;
bayesTree.removeTop(list_of(X(10)), bn, orphans);
bayesTree.removeTop(list_of(X(10)), &bn, &orphans);
SymbolicBayesNet expectedBn;
EXPECT(assert_equal(expectedBn, bn));