Cleaned up tests
Frank dellaert
parent
550dc377e3
commit
4c7ba2a98f
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@ -25,8 +25,9 @@
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/std/map.hpp>
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#include <boost/assign/list_inserter.hpp>
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#include <boost/assign/std/map.hpp>
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using namespace boost::assign;
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@ -68,94 +69,84 @@ TEST(DiscreteBayesNet, bayesNet) {
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}
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/* ************************************************************************* */
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TEST(DiscreteBayesNet, Asia)
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{
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TEST(DiscreteBayesNet, Asia) {
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DiscreteBayesNet asia;
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// DiscreteKey A("Asia"), S("Smoking"), T("Tuberculosis"), L("LungCancer"), B(
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// "Bronchitis"), E("Either"), X("XRay"), D("Dyspnoea");
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DiscreteKey A(0,2), S(4,2), T(3,2), L(6,2), B(7,2), E(5,2), X(2,2), D(1,2);
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DiscreteKey Asia(0, 2), Smoking(4, 2), Tuberculosis(3, 2), LungCancer(6, 2),
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Bronchitis(7, 2), Either(5, 2), XRay(2, 2), Dyspnea(1, 2);
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// TODO: make a version that doesn't use the parser
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asia.add(A % "99/1");
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asia.add(S % "50/50");
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asia.add(Asia % "99/1");
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asia.add(Smoking % "50/50");
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asia.add(T | A = "99/1 95/5");
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asia.add(L | S = "99/1 90/10");
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asia.add(B | S = "70/30 40/60");
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asia.add(Tuberculosis | Asia = "99/1 95/5");
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asia.add(LungCancer | Smoking = "99/1 90/10");
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asia.add(Bronchitis | Smoking = "70/30 40/60");
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asia.add((E | T, L) = "F T T T");
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asia.add((Either | Tuberculosis, LungCancer) = "F T T T");
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asia.add(X | E = "95/5 2/98");
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// next lines are same as asia.add((D | E, B) = "9/1 2/8 3/7 1/9");
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DiscreteConditional::shared_ptr actual =
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boost::make_shared<DiscreteConditional>((D | E, B) = "9/1 2/8 3/7 1/9");
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asia.push_back(actual);
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// GTSAM_PRINT(asia);
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asia.add(XRay | Either = "95/5 2/98");
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asia.add((Dyspnea | Either, Bronchitis) = "9/1 2/8 3/7 1/9");
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// Convert to factor graph
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DiscreteFactorGraph fg(asia);
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// GTSAM_PRINT(fg);
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LONGS_EQUAL(3,fg.back()->size());
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Potentials::ADT expected(B & D & E, "0.9 0.3 0.1 0.7 0.2 0.1 0.8 0.9");
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CHECK(assert_equal(expected,(Potentials::ADT)*actual));
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LONGS_EQUAL(3, fg.back()->size());
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// Check the marginals we know (of the parent-less nodes)
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DiscreteMarginals marginals(fg);
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Vector2 va(0.99, 0.01), vs(0.5, 0.5);
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EXPECT(assert_equal(va, marginals.marginalProbabilities(Asia)));
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EXPECT(assert_equal(vs, marginals.marginalProbabilities(Smoking)));
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// Create solver and eliminate
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Ordering ordering;
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ordering += Key(0),Key(1),Key(2),Key(3),Key(4),Key(5),Key(6),Key(7);
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ordering += Key(0), Key(1), Key(2), Key(3), Key(4), Key(5), Key(6), Key(7);
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DiscreteBayesNet::shared_ptr chordal = fg.eliminateSequential(ordering);
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// GTSAM_PRINT(*chordal);
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DiscreteConditional expected2(B % "11/9");
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CHECK(assert_equal(expected2,*chordal->back()));
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DiscreteConditional expected2(Bronchitis % "11/9");
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EXPECT(assert_equal(expected2, *chordal->back()));
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// solve
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DiscreteFactor::sharedValues actualMPE = chordal->optimize();
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DiscreteFactor::Values expectedMPE;
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insert(expectedMPE)(A.first, 0)(D.first, 0)(X.first, 0)(T.first, 0)(S.first,
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0)(E.first, 0)(L.first, 0)(B.first, 0);
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insert(expectedMPE)(Asia.first, 0)(Dyspnea.first, 0)(XRay.first, 0)(
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Tuberculosis.first, 0)(Smoking.first, 0)(Either.first, 0)(
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LungCancer.first, 0)(Bronchitis.first, 0);
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EXPECT(assert_equal(expectedMPE, *actualMPE));
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// add evidence, we were in Asia and we have Dispnoea
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fg.add(A, "0 1");
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fg.add(D, "0 1");
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// fg.product().dot("fg");
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// add evidence, we were in Asia and we have dyspnea
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fg.add(Asia, "0 1");
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fg.add(Dyspnea, "0 1");
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// solve again, now with evidence
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DiscreteBayesNet::shared_ptr chordal2 = fg.eliminateSequential(ordering);
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// GTSAM_PRINT(*chordal2);
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DiscreteFactor::sharedValues actualMPE2 = chordal2->optimize();
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DiscreteFactor::Values expectedMPE2;
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insert(expectedMPE2)(A.first, 1)(D.first, 1)(X.first, 0)(T.first, 0)(S.first,
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1)(E.first, 0)(L.first, 0)(B.first, 1);
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insert(expectedMPE2)(Asia.first, 1)(Dyspnea.first, 1)(XRay.first, 0)(
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Tuberculosis.first, 0)(Smoking.first, 1)(Either.first, 0)(
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LungCancer.first, 0)(Bronchitis.first, 1);
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EXPECT(assert_equal(expectedMPE2, *actualMPE2));
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// now sample from it
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DiscreteFactor::Values expectedSample;
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SETDEBUG("DiscreteConditional::sample", false);
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insert(expectedSample)(A.first, 1)(D.first, 1)(X.first, 1)(T.first, 0)(
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S.first, 1)(E.first, 1)(L.first, 1)(B.first, 0);
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insert(expectedSample)(Asia.first, 1)(Dyspnea.first, 1)(XRay.first, 1)(
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Tuberculosis.first, 0)(Smoking.first, 1)(Either.first, 1)(
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LungCancer.first, 1)(Bronchitis.first, 0);
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DiscreteFactor::sharedValues actualSample = chordal2->sample();
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EXPECT(assert_equal(expectedSample, *actualSample));
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}
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/* ************************************************************************* */
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TEST_UNSAFE(DiscreteBayesNet, Sugar)
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{
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DiscreteKey T(0,2), L(1,2), E(2,2), D(3,2), C(8,3), S(7,2);
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TEST_UNSAFE(DiscreteBayesNet, Sugar) {
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DiscreteKey T(0, 2), L(1, 2), E(2, 2), C(8, 3), S(7, 2);
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DiscreteBayesNet bn;
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// test some mistakes
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// add(bn, D);
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// add(bn, D | E);
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// add(bn, D | E = "blah");
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// try logic
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bn.add((E | T, L) = "OR");
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bn.add((E | T, L) = "AND");
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// // try multivalued
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bn.add(C % "1/1/2");
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bn.add(C | S = "1/1/2 5/2/3");
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// try multivalued
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bn.add(C % "1/1/2");
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bn.add(C | S = "1/1/2 5/2/3");
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}
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/* ************************************************************************* */
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@ -164,4 +155,3 @@ int main() {
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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@ -16,9 +16,9 @@
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* @date Feb 14, 2011
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*/
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#include <boost/make_shared.hpp>
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#include <boost/assign/std/map.hpp>
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#include <boost/assign/std/vector.hpp>
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#include <boost/make_shared.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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@ -48,71 +48,68 @@ TEST( DiscreteConditional, constructors)
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DecisionTreeFactor f2(X & Y & Z,
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"0.2 0.5 0.3 0.6 0.4 0.7 0.25 0.55 0.35 0.65 0.45 0.75");
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DiscreteConditional actual2(1, f2);
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DecisionTreeFactor::shared_ptr actual2factor = actual2.toFactor();
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// EXPECT(assert_equal(f2, *actual2factor, 1e-9));
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EXPECT(assert_equal(f2 / *f2.sum(1), *actual2.toFactor(), 1e-9));
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}
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/* ************************************************************************* */
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TEST( DiscreteConditional, constructors_alt_interface)
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{
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DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering !
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TEST(DiscreteConditional, constructors_alt_interface) {
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DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering !
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Signature::Table table;
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Signature::Row r1, r2, r3;
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r1 += 1.0, 1.0; r2 += 2.0, 3.0; r3 += 1.0, 4.0;
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r1 += 1.0, 1.0;
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r2 += 2.0, 3.0;
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r3 += 1.0, 4.0;
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table += r1, r2, r3;
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DiscreteConditional::shared_ptr expected1 = //
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boost::make_shared<DiscreteConditional>(X | Y = table);
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EXPECT(expected1);
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auto actual1 = boost::make_shared<DiscreteConditional>(X | Y = table);
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EXPECT(actual1);
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DecisionTreeFactor f1(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
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DiscreteConditional actual1(1, f1);
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EXPECT(assert_equal(*expected1, actual1, 1e-9));
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DiscreteConditional expected1(1, f1);
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EXPECT(assert_equal(expected1, *actual1, 1e-9));
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DecisionTreeFactor f2(X & Y & Z,
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"0.2 0.5 0.3 0.6 0.4 0.7 0.25 0.55 0.35 0.65 0.45 0.75");
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DecisionTreeFactor f2(
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X & Y & Z, "0.2 0.5 0.3 0.6 0.4 0.7 0.25 0.55 0.35 0.65 0.45 0.75");
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DiscreteConditional actual2(1, f2);
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DecisionTreeFactor::shared_ptr actual2factor = actual2.toFactor();
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// EXPECT(assert_equal(f2, *actual2factor, 1e-9));
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EXPECT(assert_equal(f2 / *f2.sum(1), *actual2.toFactor(), 1e-9));
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}
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/* ************************************************************************* */
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TEST( DiscreteConditional, constructors2)
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{
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TEST(DiscreteConditional, constructors2) {
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// Declare keys and ordering
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DiscreteKey C(0,2), B(1,2);
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DecisionTreeFactor expected(C & B, "0.8 0.75 0.2 0.25");
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DiscreteKey C(0, 2), B(1, 2);
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DecisionTreeFactor actual(C & B, "0.8 0.75 0.2 0.25");
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Signature signature((C | B) = "4/1 3/1");
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DiscreteConditional actual(signature);
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DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor();
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EXPECT(assert_equal(expected, *actualFactor));
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DiscreteConditional expected(signature);
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DecisionTreeFactor::shared_ptr expectedFactor = expected.toFactor();
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EXPECT(assert_equal(*expectedFactor, actual));
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}
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/* ************************************************************************* */
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TEST( DiscreteConditional, constructors3)
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{
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TEST(DiscreteConditional, constructors3) {
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// Declare keys and ordering
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DiscreteKey C(0,2), B(1,2), A(2,2);
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DecisionTreeFactor expected(C & B & A, "0.8 0.5 0.5 0.2 0.2 0.5 0.5 0.8");
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DiscreteKey C(0, 2), B(1, 2), A(2, 2);
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DecisionTreeFactor actual(C & B & A, "0.8 0.5 0.5 0.2 0.2 0.5 0.5 0.8");
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Signature signature((C | B, A) = "4/1 1/1 1/1 1/4");
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DiscreteConditional actual(signature);
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DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor();
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EXPECT(assert_equal(expected, *actualFactor));
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DiscreteConditional expected(signature);
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DecisionTreeFactor::shared_ptr expectedFactor = expected.toFactor();
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EXPECT(assert_equal(*expectedFactor, actual));
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}
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/* ************************************************************************* */
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TEST( DiscreteConditional, Combine) {
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TEST(DiscreteConditional, Combine) {
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DiscreteKey A(0, 2), B(1, 2);
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vector<DiscreteConditional::shared_ptr> c;
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c.push_back(boost::make_shared<DiscreteConditional>(A | B = "1/2 2/1"));
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c.push_back(boost::make_shared<DiscreteConditional>(B % "1/2"));
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DecisionTreeFactor factor(A & B, "0.111111 0.444444 0.222222 0.222222");
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DiscreteConditional expected(2, factor);
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DiscreteConditional::shared_ptr actual = DiscreteConditional::Combine(
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c.begin(), c.end());
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EXPECT(assert_equal(expected, *actual,1e-5));
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DiscreteConditional actual(2, factor);
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auto expected = DiscreteConditional::Combine(c.begin(), c.end());
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EXPECT(assert_equal(*expected, actual, 1e-5));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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@ -146,8 +146,7 @@ TEST_UNSAFE( DiscreteMarginals, truss ) {
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/* ************************************************************************* */
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// Second truss example with non-trivial factors
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TEST_UNSAFE( DiscreteMarginals, truss2 ) {
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TEST_UNSAFE(DiscreteMarginals, truss2) {
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const int nrNodes = 5;
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const size_t nrStates = 2;
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@ -160,40 +159,39 @@ TEST_UNSAFE( DiscreteMarginals, truss2 ) {
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// create graph and add three truss potentials
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DiscreteFactorGraph graph;
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graph.add(key[0] & key[2] & key[4],"1 2 3 4 5 6 7 8");
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graph.add(key[1] & key[3] & key[4],"1 2 3 4 5 6 7 8");
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graph.add(key[2] & key[3] & key[4],"1 2 3 4 5 6 7 8");
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graph.add(key[0] & key[2] & key[4], "1 2 3 4 5 6 7 8");
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graph.add(key[1] & key[3] & key[4], "1 2 3 4 5 6 7 8");
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graph.add(key[2] & key[3] & key[4], "1 2 3 4 5 6 7 8");
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// Calculate the marginals by brute force
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vector<DiscreteFactor::Values> allPosbValues = cartesianProduct(
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key[0] & key[1] & key[2] & key[3] & key[4]);
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vector<DiscreteFactor::Values> allPosbValues =
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cartesianProduct(key[0] & key[1] & key[2] & key[3] & key[4]);
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Vector T = Z_5x1, F = Z_5x1;
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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 = graph(x);
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for (size_t j=0;j<5;j++)
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if (x[j]) T[j]+=px; else F[j]+=px;
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// cout << x[0] << " " << x[1] << " "<< x[2] << " " << x[3] << " " << x[4] << " :\t" << px << endl;
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for (size_t j = 0; j < 5; j++)
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if (x[j])
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T[j] += px;
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else
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F[j] += px;
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}
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// Check all marginals given by a sequential solver and Marginals
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// DiscreteSequentialSolver solver(graph);
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// DiscreteSequentialSolver solver(graph);
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DiscreteMarginals marginals(graph);
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for (size_t j=0;j<5;j++) {
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double sum = T[j]+F[j];
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T[j]/=sum;
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F[j]/=sum;
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// // solver
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// Vector actualV = solver.marginalProbabilities(key[j]);
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// EXPECT(assert_equal((Vector(2) << F[j], T[j]), actualV));
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for (size_t j = 0; j < 5; j++) {
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double sum = T[j] + F[j];
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T[j] /= sum;
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F[j] /= sum;
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// Marginals
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vector<double> table;
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table += F[j],T[j];
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DecisionTreeFactor expectedM(key[j],table);
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table += F[j], T[j];
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DecisionTreeFactor expectedM(key[j], table);
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DiscreteFactor::shared_ptr actualM = marginals(j);
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EXPECT(assert_equal(expectedM, *boost::dynamic_pointer_cast<DecisionTreeFactor>(actualM)));
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EXPECT(assert_equal(
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expectedM, *boost::dynamic_pointer_cast<DecisionTreeFactor>(actualM)));
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}
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}
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@ -22,6 +22,7 @@
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#include <gtsam/discrete/Signature.h>
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#include <boost/assign/std/vector.hpp>
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#include <vector>
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using namespace std;
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using namespace gtsam;
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@ -32,6 +33,11 @@ DiscreteKey X(0, 2), Y(1, 3), Z(2, 2);
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/* ************************************************************************* */
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TEST(testSignature, simple_conditional) {
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Signature sig(X | Y = "1/1 2/3 1/4");
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Signature::Table table = *sig.table();
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vector<double> row[3]{{0.5, 0.5}, {0.4, 0.6}, {0.2, 0.8}};
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CHECK(row[0] == table[0]);
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CHECK(row[1] == table[1]);
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CHECK(row[2] == table[2]);
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DiscreteKey actKey = sig.key();
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LONGS_EQUAL(X.first, actKey.first);
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