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Fixed tests

release/4.3a0
Frank dellaert 2020-07-12 15:01:00 -04:00
parent d456dddc6f
commit 468c7aee0c
1 changed files with 81 additions and 110 deletions
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191
gtsam/discrete/tests/testDiscreteBayesTree.cpp
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@ -33,41 +33,6 @@ using namespace gtsam;
static bool debug = false; static bool debug = false;
// /**
// * Custom clique class to debug shortcuts
// */
// struct Clique : public BayesTreeCliqueBase<Clique, DiscreteConditional> {
// typedef BayesTreeCliqueBase<Clique, DiscreteConditional> Base;
// typedef boost::shared_ptr<Clique> shared_ptr;
// // Constructors
// Clique() {}
// explicit Clique(const DiscreteConditional::shared_ptr& conditional)
// : Base(conditional) {}
// Clique(const std::pair<DiscreteConditional::shared_ptr,
// DiscreteConditional::FactorType::shared_ptr>&
// result)
// : Base(result) {}
// /// print index signature only
// void printSignature(
// const std::string& s = "Clique: ",
// const KeyFormatter& indexFormatter = DefaultKeyFormatter) const {
// ((IndexConditionalOrdered::shared_ptr)conditional_)
// ->print(s, indexFormatter);
// }
// /// evaluate value of sub-tree
// double evaluate(const DiscreteConditional::Values& values) {
// double result = (*(this->conditional_))(values);
// // evaluate all children and multiply into result
// for (boost::shared_ptr<Clique> c : children_) result *=
// c->evaluate(values); return result;
// }
// };
// typedef BayesTreeOrdered<DiscreteConditional, Clique> DiscreteBayesTree;
/* ************************************************************************* */ /* ************************************************************************* */
TEST_UNSAFE(DiscreteBayesTree, thinTree) { TEST_UNSAFE(DiscreteBayesTree, thinTree) {
@ -124,24 +89,24 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) {
for (size_t i = 0; i < allPosbValues.size(); ++i) { for (size_t i = 0; i < allPosbValues.size(); ++i) {
DiscreteFactor::Values x = allPosbValues[i]; DiscreteFactor::Values x = allPosbValues[i];
double expected = bayesNet.evaluate(x); double expected = bayesNet.evaluate(x);
double actual = R->evaluate(x); double actual = bayesTree->evaluate(x);
DOUBLES_EQUAL(expected, actual, 1e-9); DOUBLES_EQUAL(expected, actual, 1e-9);
} }
// Calculate all some marginals // Calculate all some marginals for Values==all1
Vector marginals = zero(15); Vector marginals = zero(15);
double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0, double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0,
joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0,
joint_4_11 = 0; joint_4_11 = 0, joint_11_13 = 0, joint_11_13_14 = 0,
joint_11_12_13_14 = 0, joint_9_11_12_13 = 0, joint_8_11_12_13 = 0;
for (size_t i = 0; i < allPosbValues.size(); ++i) { for (size_t i = 0; i < allPosbValues.size(); ++i) {
DiscreteFactor::Values x = allPosbValues[i]; DiscreteFactor::Values x = allPosbValues[i];
double px = R->evaluate(x); double px = bayesTree->evaluate(x);
for (size_t i = 0; i < 15; i++) for (size_t i = 0; i < 15; i++)
if (x[i]) marginals[i] += px; if (x[i]) marginals[i] += px;
// calculate shortcut 8 and 0
if (x[12] && x[14]) joint_12_14 += px; if (x[12] && x[14]) joint_12_14 += px;
if (x[9] && x[12] & x[14]) joint_9_12_14 += px; if (x[9] && x[12] && x[14]) joint_9_12_14 += px;
if (x[8] && x[12] & x[14]) joint_8_12_14 += px; if (x[8] && x[12] && x[14]) joint_8_12_14 += px;
if (x[8] && x[12]) joint_8_12 += px; if (x[8] && x[12]) joint_8_12 += px;
if (x[8] && x[2]) joint82 += px; if (x[8] && x[2]) joint82 += px;
if (x[1] && x[2]) joint12 += px; if (x[1] && x[2]) joint12 += px;
@ -149,96 +114,102 @@ TEST_UNSAFE(DiscreteBayesTree, thinTree) {
if (x[4] && x[5]) joint45 += px; if (x[4] && x[5]) joint45 += px;
if (x[4] && x[6]) joint46 += px; if (x[4] && x[6]) joint46 += px;
if (x[4] && x[11]) joint_4_11 += px; if (x[4] && x[11]) joint_4_11 += px;
if (x[11] && x[13]) {
joint_11_13 += px;
if (x[8] && x[12]) joint_8_11_12_13 += px;
if (x[9] && x[12]) joint_9_11_12_13 += px;
if (x[14]) {
joint_11_13_14 += px;
if (x[12]) {
joint_11_12_13_14 += px;
}
}
}
} }
DiscreteFactor::Values all1 = allPosbValues.back(); DiscreteFactor::Values all1 = allPosbValues.back();
// check separator marginal P(S0) // check separator marginal P(S0)
auto c = (*bayesTree)[0]; auto c = (*bayesTree)[0];
DiscreteFactorGraph separatorMarginal0 = DiscreteFactorGraph separatorMarginal0 =
c->separatorMarginal(EliminateDiscrete); c->separatorMarginal(EliminateDiscrete);
EXPECT_DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9); DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
// // check separator marginal P(S9), should be P(14) // check separator marginal P(S9), should be P(14)
// c = (*bayesTree)[9]; c = (*bayesTree)[9];
// DiscreteFactorGraph separatorMarginal9 = DiscreteFactorGraph separatorMarginal9 =
// c->separatorMarginal(EliminateDiscrete); c->separatorMarginal(EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9); DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9);
// // check separator marginal of root, should be empty // check separator marginal of root, should be empty
// c = (*bayesTree)[11]; c = (*bayesTree)[11];
// DiscreteFactorGraph separatorMarginal11 = DiscreteFactorGraph separatorMarginal11 =
// c->separatorMarginal(EliminateDiscrete); c->separatorMarginal(EliminateDiscrete);
// EXPECT_LONGS_EQUAL(0, separatorMarginal11.size()); LONGS_EQUAL(0, separatorMarginal11.size());
// // check shortcut P(S9||R) to root // check shortcut P(S9||R) to root
// c = (*bayesTree)[9]; c = (*bayesTree)[9];
// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete);
// EXPECT_LONGS_EQUAL(0, shortcut.size()); LONGS_EQUAL(1, shortcut.size());
DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// // check shortcut P(S8||R) to root // check shortcut P(S8||R) to root
// c = (*bayesTree)[8]; c = (*bayesTree)[8];
// shortcut = c->shortcut(R, EliminateDiscrete); shortcut = c->shortcut(R, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint_12_14 / marginals[14], evaluate(shortcut, all1), DOUBLES_EQUAL(joint_11_12_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// 1e-9);
// // check shortcut P(S2||R) to root // check shortcut P(S2||R) to root
// c = (*bayesTree)[2]; c = (*bayesTree)[2];
// shortcut = c->shortcut(R, EliminateDiscrete); shortcut = c->shortcut(R, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint_9_12_14 / marginals[14], evaluate(shortcut, DOUBLES_EQUAL(joint_9_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// all1),
// 1e-9);
// // check shortcut P(S0||R) to root // check shortcut P(S0||R) to root
// c = (*bayesTree)[0]; c = (*bayesTree)[0];
// shortcut = c->shortcut(R, EliminateDiscrete); shortcut = c->shortcut(R, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint_8_12_14 / marginals[14], evaluate(shortcut, DOUBLES_EQUAL(joint_8_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// all1),
// 1e-9);
// // calculate all shortcuts to root // calculate all shortcuts to root
// DiscreteBayesTree::Nodes cliques = bayesTree->nodes(); DiscreteBayesTree::Nodes cliques = bayesTree->nodes();
// for (auto c : cliques) { for (auto c : cliques) {
// DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete); DiscreteBayesNet shortcut = c.second->shortcut(R, EliminateDiscrete);
// if (debug) { if (debug) {
// c->printSignature(); c.second->conditional_->printSignature();
// shortcut.print("shortcut:"); shortcut.print("shortcut:");
// } }
// } }
// // Check all marginals // Check all marginals
// DiscreteFactor::shared_ptr marginalFactor; DiscreteFactor::shared_ptr marginalFactor;
// for (size_t i = 0; i < 15; i++) { for (size_t i = 0; i < 15; i++) {
// marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete); marginalFactor = bayesTree->marginalFactor(i, EliminateDiscrete);
// double actual = (*marginalFactor)(all1); double actual = (*marginalFactor)(all1);
// EXPECT_DOUBLES_EQUAL(marginals[i], actual, 1e-9); DOUBLES_EQUAL(marginals[i], actual, 1e-9);
// } }
// DiscreteBayesNet::shared_ptr actualJoint; DiscreteBayesNet::shared_ptr actualJoint;
// Check joint P(8,2) TODO: not disjoint ! // Check joint P(8, 2)
// actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(8, 2, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint82, evaluate(*actualJoint,all1), 1e-9); DOUBLES_EQUAL(joint82, actualJoint->evaluate(all1), 1e-9);
// Check joint P(1,2) TODO: not disjoint ! // Check joint P(1, 2)
// actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(1, 2, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint12, evaluate(*actualJoint,all1), 1e-9); DOUBLES_EQUAL(joint12, actualJoint->evaluate(all1), 1e-9);
// Check joint P(2,4) // Check joint P(2, 4)
// actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(2, 4, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint24, evaluate(*actualJoint, all1), 1e-9); DOUBLES_EQUAL(joint24, actualJoint->evaluate(all1), 1e-9);
// Check joint P(4,5) TODO: not disjoint ! // Check joint P(4, 5)
// actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(4, 5, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); DOUBLES_EQUAL(joint45, actualJoint->evaluate(all1), 1e-9);
// Check joint P(4,6) TODO: not disjoint ! // Check joint P(4, 6)
// actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(4, 6, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint46, evaluate(*actualJoint,all1), 1e-9); DOUBLES_EQUAL(joint46, actualJoint->evaluate(all1), 1e-9);
// Check joint P(4,11) // Check joint P(4, 11)
// actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete); actualJoint = bayesTree->jointBayesNet(4, 11, EliminateDiscrete);
// EXPECT_DOUBLES_EQUAL(joint_4_11, evaluate(*actualJoint, all1), 1e-9); DOUBLES_EQUAL(joint_4_11, actualJoint->evaluate(all1), 1e-9);
} }
/* ************************************************************************* */ /* ************************************************************************* */