12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Nice new HC tests

release/4.3a0
Frank Dellaert 2025-01-29 17:55:14 -05:00
parent ce031e8e81
commit 64d4540e9a
1 changed files with 28 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
gtsam/hybrid/tests/testHybridConditional.cpp
View File

@ -28,6 +28,28 @@ using symbol_shorthand::M;
using symbol_shorthand::X;
using symbol_shorthand::Z;
/* ****************************************************************************/
// Test the HybridConditional constructor.
TEST(HybridConditional, Constructor) {
// Create a HybridGaussianConditional.
const KeyVector continuousKeys{X(0), X(1)};
const DiscreteKeys discreteKeys{{M(0), 2}};
const size_t nFrontals = 1;
const HybridConditional hc(continuousKeys, discreteKeys, nFrontals);
// Check Frontals:
EXPECT_LONGS_EQUAL(1, hc.nrFrontals());
const auto frontals = hc.frontals();
EXPECT_LONGS_EQUAL(1, frontals.size());
EXPECT_LONGS_EQUAL(X(0), *frontals.begin());
// Check parents:
const auto parents = hc.parents();
EXPECT_LONGS_EQUAL(2, parents.size());
EXPECT_LONGS_EQUAL(X(1), *parents.begin());
EXPECT_LONGS_EQUAL(M(0), *(parents.begin() + 1));
}
/* ****************************************************************************/
// Check invariants for all conditionals in a tiny Bayes net.
TEST(HybridConditional, Invariants) {
@ -43,6 +65,12 @@ TEST(HybridConditional, Invariants) {
auto hc0 = bn.at(0);
CHECK(hc0->isHybrid());
// Check parents:
const auto parents = hc0->parents();
EXPECT_LONGS_EQUAL(2, parents.size());
EXPECT_LONGS_EQUAL(X(0), *parents.begin());
EXPECT_LONGS_EQUAL(M(0), *(parents.begin() + 1));
// Check invariants as a HybridGaussianConditional.
const auto conditional = hc0->asHybrid();
EXPECT(HybridGaussianConditional::CheckInvariants(*conditional, values));