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Added tests for BayesTree variants

release/4.3a0
Frank Dellaert 2023-02-05 17:36:53 -08:00
parent 80d0362e0f
commit 52019d85f3
1 changed files with 48 additions and 1 deletions
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49
gtsam/symbolic/tests/testSymbolicFactorGraph.cpp
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@ -140,7 +140,7 @@ TEST(SymbolicFactorGraph, MarginalMultifrontalBayesNetKeyVector) {
EXPECT(assert_equal(expectedBayesNet, actual));
}
TEST_UNSAFE(SymbolicFactorGraph, MarginalMultifrontalBayesNetOrderingPlus) {
TEST(SymbolicFactorGraph, MarginalMultifrontalBayesNetOrderingPlus) {
auto expectedBayesNet = SymbolicBayesNet(SymbolicConditional{0, 3})({3});
const Ordering orderedVariables{0, 3},
@ -160,6 +160,53 @@ TEST(SymbolicFactorGraph, MarginalMultifrontalBayesNetKeyVectorPlus) {
EXPECT(assert_equal(expectedBayesNet, actual));
}
/* ************************************************************************* */
TEST(SymbolicFactorGraph, MarginalMultifrontalBayesTreeOrdering) {
auto expectedBayesTree =
*simpleTestGraph2.eliminatePartialMultifrontal(Ordering{4, 5})
.second->eliminateMultifrontal(Ordering{0, 1, 2, 3});
SymbolicBayesTree actual =
*simpleTestGraph2.marginalMultifrontalBayesTree(Ordering{0, 1, 2, 3});
EXPECT(assert_equal(expectedBayesTree, actual));
}
TEST(SymbolicFactorGraph, MarginalMultifrontalBayesTreeKeyVector) {
auto expectedBayesTree =
*simpleTestGraph2.eliminatePartialMultifrontal(Ordering{4, 5})
.second->eliminateMultifrontal(Ordering::OrderingType::COLAMD);
SymbolicBayesTree actual =
*simpleTestGraph2.marginalMultifrontalBayesTree(KeyVector{0, 1, 2, 3});
EXPECT(assert_equal(expectedBayesTree, actual));
}
TEST(SymbolicFactorGraph, MarginalMultifrontalBayesTreeOrderingPlus) {
const Ordering orderedVariables{0, 3},
marginalizedVariableOrdering{1, 2, 4, 5};
auto expectedBayesTree =
*simpleTestGraph2
.eliminatePartialMultifrontal(marginalizedVariableOrdering)
.second->eliminateMultifrontal(orderedVariables);
SymbolicBayesTree actual = *simpleTestGraph2.marginalMultifrontalBayesTree(
orderedVariables, marginalizedVariableOrdering);
EXPECT(assert_equal(expectedBayesTree, actual));
}
TEST(SymbolicFactorGraph, MarginalMultifrontalBayesTreeKeyVectorPlus) {
const Ordering marginalizedVariableOrdering{2, 4, 5};
auto expectedBayesTree =
*simpleTestGraph2
.eliminatePartialMultifrontal(marginalizedVariableOrdering)
.second->eliminateMultifrontal(Ordering::OrderingType::COLAMD);
const KeyVector variables{0, 1, 3};
SymbolicBayesTree actual = *simpleTestGraph2.marginalMultifrontalBayesTree(
variables, marginalizedVariableOrdering);
EXPECT(assert_equal(expectedBayesTree, actual));
}
/* ************************************************************************* */
TEST(SymbolicFactorGraph, eliminate_disconnected_graph) {
SymbolicFactorGraph fg;