Fixed tests
Frank dellaert
parent
d456dddc6f
commit
468c7aee0c
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@ -33,41 +33,6 @@ using namespace gtsam;
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static bool debug = false;
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// /**
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// * Custom clique class to debug shortcuts
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// */
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// struct Clique : public BayesTreeCliqueBase<Clique, DiscreteConditional> {
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// typedef BayesTreeCliqueBase<Clique, DiscreteConditional> Base;
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// typedef boost::shared_ptr<Clique> shared_ptr;
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// // Constructors
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// Clique() {}
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// explicit Clique(const DiscreteConditional::shared_ptr& conditional)
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// : Base(conditional) {}
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// Clique(const std::pair<DiscreteConditional::shared_ptr,
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// DiscreteConditional::FactorType::shared_ptr>&
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// result)
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// : Base(result) {}
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// /// print index signature only
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// void printSignature(
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// const std::string& s = "Clique: ",
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// const KeyFormatter& indexFormatter = DefaultKeyFormatter) const {
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// ((IndexConditionalOrdered::shared_ptr)conditional_)
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// ->print(s, indexFormatter);
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// }
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// /// evaluate value of sub-tree
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// double evaluate(const DiscreteConditional::Values& values) {
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// double result = (*(this->conditional_))(values);
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// // evaluate all children and multiply into result
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// for (boost::shared_ptr<Clique> c : children_) result *=
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// c->evaluate(values); return result;
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// }
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// };
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// typedef BayesTreeOrdered<DiscreteConditional, Clique> DiscreteBayesTree;
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/* ************************************************************************* */
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TEST_UNSAFE(DiscreteBayesTree, thinTree) {
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@ -124,24 +89,24 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) {
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for (size_t i = 0; i < allPosbValues.size(); ++i) {
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DiscreteFactor::Values x = allPosbValues[i];
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double expected = bayesNet.evaluate(x);
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double actual = R->evaluate(x);
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double actual = bayesTree->evaluate(x);
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DOUBLES_EQUAL(expected, actual, 1e-9);
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}
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// Calculate all some marginals
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// Calculate all some marginals for Values==all1
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Vector marginals = zero(15);
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double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0,
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joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0,
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joint_4_11 = 0;
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joint_4_11 = 0, joint_11_13 = 0, joint_11_13_14 = 0,
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joint_11_12_13_14 = 0, joint_9_11_12_13 = 0, joint_8_11_12_13 = 0;
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for (size_t i = 0; i < allPosbValues.size(); ++i) {
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DiscreteFactor::Values x = allPosbValues[i];
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double px = R->evaluate(x);
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double px = bayesTree->evaluate(x);
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for (size_t i = 0; i < 15; i++)
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if (x[i]) marginals[i] += px;
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// calculate shortcut 8 and 0
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if (x[12] && x[14]) joint_12_14 += px;
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if (x[9] && x[12] & x[14]) joint_9_12_14 += px;
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if (x[8] && x[12] & x[14]) joint_8_12_14 += px;
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if (x[9] && x[12] && x[14]) joint_9_12_14 += px;
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if (x[8] && x[12] && x[14]) joint_8_12_14 += px;
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if (x[8] && x[12]) joint_8_12 += px;
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if (x[8] && x[2]) joint82 += px;
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if (x[1] && x[2]) joint12 += px;
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@ -149,96 +114,102 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) {
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if (x[4] && x[5]) joint45 += px;
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if (x[4] && x[6]) joint46 += px;
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if (x[4] && x[11]) joint_4_11 += px;
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if (x[11] && x[13]) {
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joint_11_13 += px;
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if (x[8] && x[12]) joint_8_11_12_13 += px;
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if (x[9] && x[12]) joint_9_11_12_13 += px;
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if (x[14]) {
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joint_11_13_14 += px;
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if (x[12]) {
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joint_11_12_13_14 += px;
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}
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}
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}
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}
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DiscreteFactor::Values all1 = allPosbValues.back();
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// check separator marginal P(S0)
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auto c = (*bayesTree)[0];
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DiscreteFactorGraph separatorMarginal0 =
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c->separatorMarginal(EliminateDiscrete);
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EXPECT_DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
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DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
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// // check separator marginal P(S9), should be P(14)
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// c = (*bayesTree)[9];
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// DiscreteFactorGraph separatorMarginal9 =
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// c->separatorMarginal(EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9);
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// check separator marginal P(S9), should be P(14)
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c = (*bayesTree)[9];
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DiscreteFactorGraph separatorMarginal9 =
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c->separatorMarginal(EliminateDiscrete);
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DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9);
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// // check separator marginal of root, should be empty
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// c = (*bayesTree)[11];
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// DiscreteFactorGraph separatorMarginal11 =
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// c->separatorMarginal(EliminateDiscrete);
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// EXPECT_LONGS_EQUAL(0, separatorMarginal11.size());
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// check separator marginal of root, should be empty
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c = (*bayesTree)[11];
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DiscreteFactorGraph separatorMarginal11 =
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c->separatorMarginal(EliminateDiscrete);
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LONGS_EQUAL(0, separatorMarginal11.size());
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// // check shortcut P(S9||R) to root
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// c = (*bayesTree)[9];
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// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete);
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// EXPECT_LONGS_EQUAL(0, shortcut.size());
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// check shortcut P(S9||R) to root
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c = (*bayesTree)[9];
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DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete);
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LONGS_EQUAL(1, shortcut.size());
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DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
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// // check shortcut P(S8||R) to root
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// c = (*bayesTree)[8];
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// shortcut = c->shortcut(R, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint_12_14 / marginals[14], evaluate(shortcut, all1),
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// 1e-9);
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// check shortcut P(S8||R) to root
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c = (*bayesTree)[8];
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shortcut = c->shortcut(R, EliminateDiscrete);
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DOUBLES_EQUAL(joint_11_12_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
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// // check shortcut P(S2||R) to root
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// c = (*bayesTree)[2];
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// shortcut = c->shortcut(R, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint_9_12_14 / marginals[14], evaluate(shortcut,
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// all1),
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// 1e-9);
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// check shortcut P(S2||R) to root
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c = (*bayesTree)[2];
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shortcut = c->shortcut(R, EliminateDiscrete);
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DOUBLES_EQUAL(joint_9_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
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// // check shortcut P(S0||R) to root
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// c = (*bayesTree)[0];
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// shortcut = c->shortcut(R, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint_8_12_14 / marginals[14], evaluate(shortcut,
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// all1),
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// 1e-9);
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// check shortcut P(S0||R) to root
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c = (*bayesTree)[0];
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shortcut = c->shortcut(R, EliminateDiscrete);
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DOUBLES_EQUAL(joint_8_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
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// // calculate all shortcuts to root
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// DiscreteBayesTree::Nodes cliques = bayesTree->nodes();
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// for (auto c : cliques) {
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// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete);
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// if (debug) {
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// c->printSignature();
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// shortcut.print("shortcut:");
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// }
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// }
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// calculate all shortcuts to root
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DiscreteBayesTree::Nodes cliques = bayesTree->nodes();
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for (auto c : cliques) {
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DiscreteBayesNet shortcut = c.second->shortcut(R, EliminateDiscrete);
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if (debug) {
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c.second->conditional_->printSignature();
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shortcut.print("shortcut:");
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}
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}
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// // Check all marginals
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// DiscreteFactor::shared_ptr marginalFactor;
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// for (size_t i = 0; i < 15; i++) {
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// marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete);
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// double actual = (*marginalFactor)(all1);
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// EXPECT_DOUBLES_EQUAL(marginals[i], actual, 1e-9);
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// }
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// Check all marginals
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DiscreteFactor::shared_ptr marginalFactor;
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for (size_t i = 0; i < 15; i++) {
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marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete);
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double actual = (*marginalFactor)(all1);
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DOUBLES_EQUAL(marginals[i], actual, 1e-9);
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}
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// DiscreteBayesNet::shared_ptr actualJoint;
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DiscreteBayesNet::shared_ptr actualJoint;
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// Check joint P(8,2) TODO: not disjoint !
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// actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint82, evaluate(*actualJoint,all1), 1e-9);
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// Check joint P(8, 2)
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actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete);
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DOUBLES_EQUAL(joint82, actualJoint->evaluate(all1), 1e-9);
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// Check joint P(1,2) TODO: not disjoint !
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// actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint12, evaluate(*actualJoint,all1), 1e-9);
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// Check joint P(1, 2)
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actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete);
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DOUBLES_EQUAL(joint12, actualJoint->evaluate(all1), 1e-9);
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// Check joint P(2,4)
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// actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint24, evaluate(*actualJoint, all1), 1e-9);
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// Check joint P(2, 4)
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actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete);
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DOUBLES_EQUAL(joint24, actualJoint->evaluate(all1), 1e-9);
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// Check joint P(4,5) TODO: not disjoint !
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// actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9);
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// Check joint P(4, 5)
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actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete);
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DOUBLES_EQUAL(joint45, actualJoint->evaluate(all1), 1e-9);
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// Check joint P(4,6) TODO: not disjoint !
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// actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9);
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// Check joint P(4, 6)
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actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete);
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DOUBLES_EQUAL(joint46, actualJoint->evaluate(all1), 1e-9);
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// Check joint P(4,11)
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// actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete);
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// EXPECT_DOUBLES_EQUAL(joint_4_11, evaluate(*actualJoint, all1), 1e-9);
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// Check joint P(4, 11)
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actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete);
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DOUBLES_EQUAL(joint_4_11, actualJoint->evaluate(all1), 1e-9);
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}
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/* ************************************************************************* */
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