Merged in feature/testVariableIndex (pull request #405)
Feature/testVariableIndex Approved-by: Chris Beall <chrisbeall@gmail.com>release/4.3a0
Frank Dellaert
Chris Beall
commit
55dd754ce4
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@ -63,7 +63,7 @@ public:
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/// @name Standard Constructors
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/// @{
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/** Default constructor, creates an empty VariableIndex */
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/// Default constructor, creates an empty VariableIndex
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VariableIndex() : nFactors_(0), nEntries_(0) {}
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/**
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@ -77,19 +77,16 @@ public:
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/// @name Standard Interface
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/// @{
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/**
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* The number of variable entries. This is one greater than the variable
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* with the highest index.
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*/
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/// The number of variable entries. This is equal to the number of unique variable Keys.
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size_t size() const { return index_.size(); }
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/** The number of factors in the original factor graph */
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/// The number of factors in the original factor graph
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size_t nFactors() const { return nFactors_; }
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/** The number of nonzero blocks, i.e. the number of variable-factor entries */
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/// The number of nonzero blocks, i.e. the number of variable-factor entries
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size_t nEntries() const { return nEntries_; }
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/** Access a list of factors by variable */
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/// Access a list of factors by variable
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const Factors& operator[](Key variable) const {
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KeyMap::const_iterator item = index_.find(variable);
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if(item == index_.end())
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@ -102,10 +99,10 @@ public:
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/// @name Testable
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/// @{
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/** Test for equality (for unit tests and debug assertions). */
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/// Test for equality (for unit tests and debug assertions).
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bool equals(const VariableIndex& other, double tol=0.0) const;
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/** Print the variable index (for unit tests and debugging). */
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/// Print the variable index (for unit tests and debugging).
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void print(const std::string& str = "VariableIndex: ",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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@ -140,17 +137,17 @@ public:
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template<typename ITERATOR, class FG>
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void remove(ITERATOR firstFactor, ITERATOR lastFactor, const FG& factors);
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/** Remove unused empty variables (in debug mode verifies they are empty). */
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/// Remove unused empty variables (in debug mode verifies they are empty).
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template<typename ITERATOR>
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void removeUnusedVariables(ITERATOR firstKey, ITERATOR lastKey);
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/** Iterator to the first variable entry */
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/// Iterator to the first variable entry
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const_iterator begin() const { return index_.begin(); }
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/** Iterator to the first variable entry */
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/// Iterator to the first variable entry
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const_iterator end() const { return index_.end(); }
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/** Find the iterator for the requested variable entry */
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/// Find the iterator for the requested variable entry
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const_iterator find(Key key) const { return index_.find(key); }
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protected:
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@ -11,60 +11,66 @@
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/**
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* @file testVariableIndex.cpp
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* @brief
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* @brief Unit tests for VariableIndex class
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* @author Richard Roberts
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* @date Sep 26, 2010
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* @date Sep 26, 2010
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*/
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#include <gtsam/inference/VariableIndex.h>
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#include <gtsam/symbolic/SymbolicFactorGraph.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/std/list.hpp>
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#include <boost/assign/list_of.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/inference/VariableIndex.h>
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#include <gtsam/symbolic/SymbolicFactorGraph.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(VariableIndex, augment) {
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// 2 small symbolic graphs shared by all tests
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SymbolicFactorGraph fg1, fg2;
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SymbolicFactorGraph testGraph1() {
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SymbolicFactorGraph fg1;
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fg1.push_factor(0, 1);
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fg1.push_factor(0, 2);
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fg1.push_factor(5, 9);
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fg1.push_factor(2, 3);
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return fg1;
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}
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SymbolicFactorGraph testGraph2() {
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SymbolicFactorGraph fg2;
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fg2.push_factor(1, 3);
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fg2.push_factor(2, 4);
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fg2.push_factor(3, 5);
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fg2.push_factor(5, 6);
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return fg2;
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}
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SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
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/* ************************************************************************* */
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TEST(VariableIndex, augment) {
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auto fg1 = testGraph1(), fg2 = testGraph2();
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SymbolicFactorGraph fgCombined;
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fgCombined.push_back(fg1);
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fgCombined.push_back(fg2);
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VariableIndex expected(fgCombined);
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VariableIndex actual(fg1);
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actual.augment(fg2);
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LONGS_EQUAL(16, (long)actual.nEntries());
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LONGS_EQUAL(8, (long)actual.nFactors());
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LONGS_EQUAL(8, actual.size());
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LONGS_EQUAL(16, actual.nEntries());
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LONGS_EQUAL(8, actual.nFactors());
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EXPECT(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST(VariableIndex, augment2) {
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SymbolicFactorGraph fg1, fg2;
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fg1.push_factor(0, 1);
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fg1.push_factor(0, 2);
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fg1.push_factor(5, 9);
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fg1.push_factor(2, 3);
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fg2.push_factor(1, 3);
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fg2.push_factor(2, 4);
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fg2.push_factor(3, 5);
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fg2.push_factor(5, 6);
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auto fg1 = testGraph1(), fg2 = testGraph2();
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SymbolicFactorGraph fgCombined;
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fgCombined.push_back(fg1);
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@ -77,23 +83,16 @@ TEST(VariableIndex, augment2) {
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VariableIndex actual(fg1);
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actual.augment(fg2, newIndices);
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LONGS_EQUAL(16, (long) actual.nEntries());
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LONGS_EQUAL(9, (long) actual.nFactors());
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LONGS_EQUAL(8, actual.size());
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LONGS_EQUAL(16, actual.nEntries());
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LONGS_EQUAL(9, actual.nFactors());
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EXPECT(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST(VariableIndex, remove) {
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SymbolicFactorGraph fg1, fg2;
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fg1.push_factor(0, 1);
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fg1.push_factor(0, 2);
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fg1.push_factor(5, 9);
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fg1.push_factor(2, 3);
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fg2.push_factor(1, 3);
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fg2.push_factor(2, 4);
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fg2.push_factor(3, 5);
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fg2.push_factor(5, 6);
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auto fg1 = testGraph1(), fg2 = testGraph2();
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SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
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@ -118,15 +117,7 @@ TEST(VariableIndex, remove) {
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/* ************************************************************************* */
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TEST(VariableIndex, deep_copy) {
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SymbolicFactorGraph fg1, fg2;
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fg1.push_factor(0, 1);
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fg1.push_factor(0, 2);
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fg1.push_factor(5, 9);
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fg1.push_factor(2, 3);
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fg2.push_factor(1, 3);
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fg2.push_factor(2, 4);
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fg2.push_factor(3, 5);
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fg2.push_factor(5, 6);
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auto fg1 = testGraph1(), fg2 = testGraph2();
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// Create original graph and VariableIndex
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SymbolicFactorGraph fgOriginal; fgOriginal.push_back(fg1); fgOriginal.push_back(fg2);
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