BayesTree WIP

gtsam/discrete/DiscreteSearch.h

@@ -17,6 +17,7 @@
  */
 
 #include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteBayesTree.h>
 
 namespace gtsam {
 
@@ -214,6 +215,12 @@ class DiscreteSearch {
     expansions_.push(root);
   }
 
+  /**
+   * Construct from a DiscreteBayesNet and K.
+   */
+  DiscreteSearch(const DiscreteBayesTree& bayesTree, size_t K)
+      : solutions_(K) {}
+
   /**
    * @brief Search for the K best solutions.
    *

gtsam/discrete/tests/testDiscreteSearch.cpp

@@ -32,6 +32,7 @@
 
 using namespace gtsam;
 
+/* ************************************************************************* */
 TEST(DiscreteBayesNet, EmptyKBest) {
   DiscreteBayesNet net;  // no factors
   DiscreteSearch search(net, 3);
@@ -41,6 +42,7 @@ TEST(DiscreteBayesNet, EmptyKBest) {
   EXPECT_DOUBLES_EQUAL(0, std::fabs(solutions[0].error), 1e-9);
 }
 
+/* ************************************************************************* */
 TEST(DiscreteBayesNet, AsiaKBest) {
   using namespace asia_example;
   DiscreteBayesNet asia = createAsiaExample();
@@ -51,6 +53,35 @@ TEST(DiscreteBayesNet, AsiaKBest) {
   EXPECT_DOUBLES_EQUAL(1.236627, std::fabs(solutions[0].error), 1e-5);
 }
 
+/* ************************************************************************* */
+TEST(DiscreteBayesTree, testEmptyTree) {
+  DiscreteBayesTree bt;
+
+  DiscreteSearch search(bt, 3);
+  auto solutions = search.run();
+
+  // We expect exactly 1 solution with error = 0.0 (the empty assignment).
+  assert(solutions.size() == 1 && "There should be exactly one empty solution");
+  EXPECT_LONGS_EQUAL(1, solutions.size());
+  EXPECT_DOUBLES_EQUAL(0, std::fabs(solutions[0].error), 1e-9);
+}
+
+/* ************************************************************************* */
+TEST(DiscreteBayesTree, testTrivialOneClique) {
+  using namespace asia_example;
+  DiscreteFactorGraph asia(createAsiaExample());
+  DiscreteBayesTree::shared_ptr bt = asia.eliminateMultifrontal();
+  GTSAM_PRINT(*bt);
+
+  // Ask for top 4 solutions
+  DiscreteSearch search(*bt, 4);
+  auto solutions = search.run();
+
+  EXPECT(!solutions.empty());
+  // Regression test: check the first solution
+  EXPECT_DOUBLES_EQUAL(1.236627, std::fabs(solutions[0].error), 1e-5);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;