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Strengthened test and now checks problemSize_

release/4.3a0
dellaert 2015-06-21 14:36:23 -07:00
parent c3811a5488
commit 5237c74928
1 changed files with 39 additions and 27 deletions
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66
tests/testGaussianJunctionTreeB.cpp
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@ -64,35 +64,39 @@ using symbol_shorthand::L;
/* ************************************************************************* *
Bayes tree for smoother with "nested dissection" ordering:
C1 x5 x6 x4
C2 x3 x2 : x4
C3 x1 : x2
C4 x7 : x6
*/
TEST( GaussianJunctionTreeB, constructor2 )
{
C1 x5 x6 x4
C2 x3 x2 : x4
C3 x1 : x2
C4 x7 : x6
*/
TEST( GaussianJunctionTreeB, constructor2 ) {
// create a graph
NonlinearFactorGraph nlfg;
Values values;
boost::tie(nlfg,values) = createNonlinearSmoother(7);
boost::tie(nlfg, values) = createNonlinearSmoother(7);
SymbolicFactorGraph::shared_ptr symbolic = nlfg.symbolic();
// linearize
GaussianFactorGraph::shared_ptr fg = nlfg.linearize(values);
Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4);
Ordering ordering;
ordering += X(1), X(3), X(5), X(7), X(2), X(6), X(4);
// create an ordering
GaussianEliminationTree etree(*fg, ordering);
SymbolicEliminationTree stree(*symbolic,ordering);
SymbolicEliminationTree stree(*symbolic, ordering);
GTSAM_PRINT(stree);
GaussianJunctionTree actual(etree);
GTSAM_PRINT(actual);
Ordering o324; o324 += X(3), X(2), X(4);
Ordering o56; o56 += X(5), X(6);
Ordering o7; o7 += X(7);
Ordering o1; o1 += X(1);
Ordering o324;
o324 += X(3), X(2), X(4);
Ordering o56;
o56 += X(5), X(6);
Ordering o7;
o7 += X(7);
Ordering o1;
o1 += X(1);
// Can no longer test these:
// Ordering sep1;
@ -102,26 +106,31 @@ TEST( GaussianJunctionTreeB, constructor2 )
GaussianJunctionTree::sharedNode x324 = actual.roots().front();
LONGS_EQUAL(2, x324->children.size());
#if defined(__APPLE__) // tie-breaking seems different :-(
GaussianJunctionTree::sharedNode x1 = x324->children[0];
GaussianJunctionTree::sharedNode x56 = x324->children[1];
#else
GaussianJunctionTree::sharedNode x1 = x324->children[1];
GaussianJunctionTree::sharedNode x56 = x324->children[0];
#endif
if (x1->children.size() > 0)
x1.swap(x56); // makes it work with different tie-breakers
LONGS_EQUAL(0, x1->children.size());
LONGS_EQUAL(1, x56->children.size());
GaussianJunctionTree::sharedNode x7 = x56->children[0];
LONGS_EQUAL(0, x7->children.size());
EXPECT(assert_equal(o324, x324->orderedFrontalKeys));
EXPECT_LONGS_EQUAL (5, x324->factors.size());
EXPECT(assert_equal(o56, x56->orderedFrontalKeys));
EXPECT_LONGS_EQUAL (4, x56->factors.size());
EXPECT(assert_equal(o7, x7->orderedFrontalKeys));
EXPECT_LONGS_EQUAL (2, x7->factors.size());
EXPECT(assert_equal(o1, x1->orderedFrontalKeys));
EXPECT_LONGS_EQUAL (2, x1->factors.size());
EXPECT_LONGS_EQUAL(5, x324->factors.size());
EXPECT_LONGS_EQUAL(9, x324->problemSize_);
EXPECT(assert_equal(o56, x56->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(4, x56->factors.size());
EXPECT_LONGS_EQUAL(9, x56->problemSize_);
EXPECT(assert_equal(o7, x7->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(2, x7->factors.size());
EXPECT_LONGS_EQUAL(4, x7->problemSize_);
EXPECT(assert_equal(o1, x1->orderedFrontalKeys));
EXPECT_LONGS_EQUAL(2, x1->factors.size());
EXPECT_LONGS_EQUAL(4, x1->problemSize_);
}
///* ************************************************************************* */
@ -266,6 +275,9 @@ TEST( GaussianJunctionTreeB, constructor2 )
//}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */