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Additional symbolic factor unit test (in conjunction with symbolic elimination fix)

release/4.3a0
Richard Roberts 2011-01-25 22:29:50 +00:00
parent a14a071310
commit 5ffc3fc27e
1 changed files with 33 additions and 0 deletions
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33
gtsam/inference/tests/testSymbolicFactor.cpp
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@ -19,8 +19,10 @@
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/inference/IndexFactor.h>
#include <gtsam/inference/IndexConditional.h>
#include <gtsam/inference/SymbolicFactorGraph.h>
#include <boost/assign/std/vector.hpp>
#include <boost/tuple/tuple.hpp>
using namespace std;
using namespace gtsam;
@ -45,6 +47,37 @@ TEST(SymbolicFactor, eliminate) {
CHECK(assert_equal(**fragmentCond++, *expected2));
}
/* ************************************************************************* */
TEST(SymbolicFactor, CombineAndEliminate) {
SymbolicFactorGraph factors;
factors.push_factor(2,4,6);
factors.push_factor(1,2,5);
factors.push_factor(0,3);
IndexFactor expected_factor(4,5,6);
BayesNet<IndexConditional> expected_bn;
vector<Index> parents;
parents.clear(); parents += 1,2,3,4,5,6;
expected_bn.push_back(IndexConditional::shared_ptr(new IndexConditional(0, parents)));
parents.clear(); parents += 2,3,4,5,6;
expected_bn.push_back(IndexConditional::shared_ptr(new IndexConditional(1, parents)));
parents.clear(); parents += 3,4,5,6;
expected_bn.push_back(IndexConditional::shared_ptr(new IndexConditional(2, parents)));
parents.clear(); parents += 4,5,6;
expected_bn.push_back(IndexConditional::shared_ptr(new IndexConditional(3, parents)));
BayesNet<IndexConditional>::shared_ptr actual_bn;
IndexFactor::shared_ptr actual_factor;
boost::tie(actual_bn, actual_factor) = IndexFactor::CombineAndEliminate(factors, 4);
CHECK(assert_equal(expected_bn, *actual_bn));
CHECK(assert_equal(expected_factor, *actual_factor));
}
/* ************************************************************************* */
int main() {
TestResult tr;