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Merged in feature/testVariableIndex (pull request #405) 

Feature/testVariableIndex

Approved-by: Chris Beall <chrisbeall@gmail.com>
release/4.3a0
Frank Dellaert 2019-04-04 04:41:30 +00:00 committed by Chris Beall
parent efefe2d31a 89ebed53cc
commit 55dd754ce4
2 changed files with 44 additions and 56 deletions
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25
gtsam/inference/VariableIndex.h
View File

@ -63,7 +63,7 @@ public:
/// @name Standard Constructors
/// @{
/** Default constructor, creates an empty VariableIndex */
/// Default constructor, creates an empty VariableIndex
VariableIndex() : nFactors_(0), nEntries_(0) {}
/**
@ -77,19 +77,16 @@ public:
/// @name Standard Interface
/// @{
/**
* The number of variable entries. This is one greater than the variable
* with the highest index.
*/
/// The number of variable entries. This is equal to the number of unique variable Keys.
size_t size() const { return index_.size(); }
/** The number of factors in the original factor graph */
/// The number of factors in the original factor graph
size_t nFactors() const { return nFactors_; }
/** The number of nonzero blocks, i.e. the number of variable-factor entries */
/// The number of nonzero blocks, i.e. the number of variable-factor entries
size_t nEntries() const { return nEntries_; }
/** Access a list of factors by variable */
/// Access a list of factors by variable
const Factors& operator[](Key variable) const {
KeyMap::const_iterator item = index_.find(variable);
if(item == index_.end())
@ -102,10 +99,10 @@ public:
/// @name Testable
/// @{
/** Test for equality (for unit tests and debug assertions). */
/// Test for equality (for unit tests and debug assertions).
bool equals(const VariableIndex& other, double tol=0.0) const;
/** Print the variable index (for unit tests and debugging). */
/// Print the variable index (for unit tests and debugging).
void print(const std::string& str = "VariableIndex: ",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
@ -140,17 +137,17 @@ public:
template<typename ITERATOR, class FG>
void remove(ITERATOR firstFactor, ITERATOR lastFactor, const FG& factors);
/** Remove unused empty variables (in debug mode verifies they are empty). */
/// Remove unused empty variables (in debug mode verifies they are empty).
template<typename ITERATOR>
void removeUnusedVariables(ITERATOR firstKey, ITERATOR lastKey);
/** Iterator to the first variable entry */
/// Iterator to the first variable entry
const_iterator begin() const { return index_.begin(); }
/** Iterator to the first variable entry */
/// Iterator to the first variable entry
const_iterator end() const { return index_.end(); }
/** Find the iterator for the requested variable entry */
/// Find the iterator for the requested variable entry
const_iterator find(Key key) const { return index_.find(key); }
protected:

73
gtsam/symbolic/tests/testVariableIndex.cpp
View File

@ -11,60 +11,66 @@
/**
* @file testVariableIndex.cpp
* @brief
* @brief Unit tests for VariableIndex class
* @author Richard Roberts
* @date Sep 26, 2010
*/
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/list.hpp>
#include <boost/assign/list_of.hpp>
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
TEST(VariableIndex, augment) {
// 2 small symbolic graphs shared by all tests
SymbolicFactorGraph fg1, fg2;
SymbolicFactorGraph testGraph1() {
SymbolicFactorGraph fg1;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
return fg1;
}
SymbolicFactorGraph testGraph2() {
SymbolicFactorGraph fg2;
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
return fg2;
}
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
/* ************************************************************************* */
TEST(VariableIndex, augment) {
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined;
fgCombined.push_back(fg1);
fgCombined.push_back(fg2);
VariableIndex expected(fgCombined);
VariableIndex actual(fg1);
actual.augment(fg2);
LONGS_EQUAL(16, (long)actual.nEntries());
LONGS_EQUAL(8, (long)actual.nFactors());
LONGS_EQUAL(8, actual.size());
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(8, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, augment2) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined;
fgCombined.push_back(fg1);
@ -77,23 +83,16 @@ TEST(VariableIndex, augment2) {
VariableIndex actual(fg1);
actual.augment(fg2, newIndices);
LONGS_EQUAL(16, (long) actual.nEntries());
LONGS_EQUAL(9, (long) actual.nFactors());
LONGS_EQUAL(8, actual.size());
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(9, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, remove) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
@ -118,15 +117,7 @@ TEST(VariableIndex, remove) {
/* ************************************************************************* */
TEST(VariableIndex, deep_copy) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
// Create original graph and VariableIndex
SymbolicFactorGraph fgOriginal; fgOriginal.push_back(fg1); fgOriginal.push_back(fg2);