SymbolicBayesTreeUnordered shortcut and marginal unit tests pass

gtsam/inference/BayesTreeUnordered-inst.h

@@ -212,7 +212,7 @@ namespace gtsam {
   {
     // Traverse the BayesTree and add all conditionals to this graph
     int data = 0; // Unused
-    treeTraversal::DepthFirstForest(*this, data, boost::bind(&_pushClique<FactorType,CLIQUE>, graph, _1));
+    treeTraversal::DepthFirstForest(*this, data, boost::bind(&_pushClique<FactorType,CLIQUE>, boost::ref(graph), _1));
   }
 
   /* ************************************************************************* */
@@ -474,6 +474,8 @@ namespace gtsam {
         ++p2;
       }
     }
+    if(!B)
+      throw std::invalid_argument("BayesTree::jointBayesNet does not yet work for joints across a forest");
     gttoc(Lowest_common_ancestor);
 
     // Compute marginal on lowest common ancestor clique

gtsam/inference/EliminateableFactorGraph-inst.h

@@ -135,12 +135,12 @@ namespace gtsam {
         {
           // An ordering was also provided for the unmarginalized variables, so we can also
           // eliminate them in the order requested.
-          return eliminateSequential(*varsAsOrdering, function, *variableIndex);
+          return eliminated.second->eliminateSequential(*varsAsOrdering, function);
         }
         else
         {
           // No ordering was provided for the unmarginalized variables, so order them with COLAMD.
-          return eliminateSequential(boost::none, function, *variableIndex);
+          return eliminated.second->eliminateSequential(boost::none, function);
         }
       }
       else

gtsam/symbolic/tests/testSymbolicBayesTree.cpp

@@ -62,7 +62,7 @@ namespace {
 }
 
 /* ************************************************************************* */
-TEST_UNSAFE( SymbolicBayesTree, constructor )
+TEST( SymbolicBayesTree, constructor )
 {
   // Create using insert
   //SymbolicBayesTreeUnordered bayesTree = createAsiaSymbolicBayesTree();
@@ -244,7 +244,6 @@ TEST( BayesTree, shortcutCheck )
   SymbolicBayesTreeUnordered bayesTree = *chain.eliminateMultifrontal(
     OrderingUnordered(list_of(_G_)(_F_)(_E_)(_D_)(_C_)(_B_)(_A_)));
 
-  bayesTree.print("BayesTree");
   //bayesTree.saveGraph("BT1.dot");
 
   SymbolicBayesTreeUnordered::sharedClique rootClique = bayesTree.roots().front();
@@ -458,6 +457,8 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
   bayesNet.push_back(boost::make_shared<SymbolicConditionalUnordered>(1, 8, 12));
   bayesNet.push_back(boost::make_shared<SymbolicConditionalUnordered>(0, 8, 12));
 
+  bayesNet.print("bayesNet: ");
+
   if (debug) {
     GTSAM_PRINT(bayesNet);
     bayesNet.saveGraph("/tmp/symbolicBayesNet.dot");
@@ -486,8 +487,7 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
     // check shortcut P(S8||R) to root
     SymbolicBayesTreeUnordered::Clique::shared_ptr c = bayesTree[8];
     SymbolicBayesNetUnordered shortcut = c->shortcut(R);
-    SymbolicBayesNetUnordered expected;
+    SymbolicBayesNetUnordered expected = list_of(SymbolicConditionalUnordered(12, 14));
-    expected.push_back(boost::make_shared<SymbolicConditionalUnordered>(12, 14));
     EXPECT(assert_equal(expected, shortcut));
   }
 
@@ -544,8 +544,8 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
   if (true) {
     actualJoint = bayesTree.jointBayesNet(2, 6);
     SymbolicBayesNetUnordered expected;
-    expected.push_back(boost::make_shared<SymbolicConditionalUnordered>(6));
     expected.push_back(boost::make_shared<SymbolicConditionalUnordered>(2, 6));
+    expected.push_back(boost::make_shared<SymbolicConditionalUnordered>(6));
     EXPECT(assert_equal(expected, *actualJoint));
   }
 
@@ -562,20 +562,20 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
 /* ************************************************************************* */
 TEST(SymbolicBayesTreeUnordered, forest_joint)
 {
-  //// Create forest
+  // Create forest
-  //SymbolicBayesTreeCliqueUnordered::shared_ptr root1 = MakeClique(list_of(1), 1);
+  SymbolicBayesTreeCliqueUnordered::shared_ptr root1 = MakeClique(list_of(1), 1);
-  //SymbolicBayesTreeCliqueUnordered::shared_ptr root2 = MakeClique(list_of(2), 1);
+  SymbolicBayesTreeCliqueUnordered::shared_ptr root2 = MakeClique(list_of(2), 1);
-  //SymbolicBayesTreeUnordered bayesTree;
+  SymbolicBayesTreeUnordered bayesTree;
-  //bayesTree.insertRoot(root1);
+  bayesTree.insertRoot(root1);
-  //bayesTree.insertRoot(root2);
+  bayesTree.insertRoot(root2);
 
-  //// Check joint
+  // Check joint
-  //SymbolicBayesNetUnordered expected = list_of
+  SymbolicBayesNetUnordered expected = list_of
-  //  (SymbolicConditionalUnordered(1))
+    (SymbolicConditionalUnordered(1))
-  //  (SymbolicConditionalUnordered(2));
+    (SymbolicConditionalUnordered(2));
-  //SymbolicBayesNetUnordered actual = *bayesTree.jointBayesNet(1, 2);
+  SymbolicBayesNetUnordered actual = *bayesTree.jointBayesNet(1, 2);
 
-  //EXPECT(assert_equal(expected, actual));
+  EXPECT(assert_equal(expected, actual));
 }
 
 /* ************************************************************************* *
@@ -588,7 +588,7 @@ TEST(SymbolicBayesTreeUnordered, forest_joint)
  C6           0 : 1
  **************************************************************************** */
 
-TEST_UNSAFE( SymbolicBayesTreeUnordered, linear_smoother_shortcuts ) {
+TEST( SymbolicBayesTreeUnordered, linear_smoother_shortcuts ) {
   // Create smoother with 7 nodes
   SymbolicFactorGraphUnordered smoother;
   smoother.push_factor(0);
@@ -651,25 +651,22 @@ TEST(SymbolicBayesTreeUnordered, complicatedMarginal)
   SymbolicBayesTreeCliqueUnordered::shared_ptr root = MakeClique(list_of(11)(12), 2);
   cur = root;
   
-  cur->children += MakeClique(list_of(9)(10)(11)(12), 2);
+  root->children += MakeClique(list_of(9)(10)(11)(12), 2);
-  cur->children.front()->parent_ = cur;
+  root->children.back()->parent_ = root;
-  cur = root->children.front();
 
-  cur->children += MakeClique(list_of(7)(8)(11), 2);
+  root->children += MakeClique(list_of(7)(8)(11), 2);
-  cur->children.front()->parent_ = cur;
+  root->children.back()->parent_ = root;
-  cur = root->children.front();
+  cur = root->children.back();
 
   cur->children += MakeClique(list_of(5)(6)(7)(8), 2);
-  cur->children.front()->parent_ = cur;
+  cur->children.back()->parent_ = cur;
-  cur = root->children.front();
+  cur = cur->children.back();
 
   cur->children += MakeClique(list_of(3)(4)(6), 2);
-  cur->children.front()->parent_ = cur;
+  cur->children.back()->parent_ = cur;
-  cur = root->children.front();
 
   cur->children += MakeClique(list_of(1)(2)(5), 2);
-  cur->children.front()->parent_ = cur;
+  cur->children.back()->parent_ = cur;
-  cur = root->children.front();
 
   // Create Bayes Tree
   SymbolicBayesTreeUnordered bt;
@@ -679,6 +676,8 @@ TEST(SymbolicBayesTreeUnordered, complicatedMarginal)
     bt.saveGraph("/tmp/SymbolicBayesTreeUnordered.dot");
   }
 
+  bt.print("bt: ");
+
   // Shortcut on 9
   {
     SymbolicBayesTreeUnordered::Clique::shared_ptr c = bt[9];
@@ -698,8 +697,8 @@ TEST(SymbolicBayesTreeUnordered, complicatedMarginal)
     SymbolicBayesTreeUnordered::Clique::shared_ptr c = bt[5];
     SymbolicBayesNetUnordered shortcut = c->shortcut(root);
     SymbolicBayesNetUnordered expected = list_of
-      (SymbolicConditionalUnordered(8, 11))
+      (SymbolicConditionalUnordered(7, 8, 11))
-      (SymbolicConditionalUnordered(7, 8, 11));
+      (SymbolicConditionalUnordered(8, 11));
     EXPECT(assert_equal(expected, shortcut));
   }