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Updated unit tests for clique finding fix

release/4.3a0
Richard Roberts 2013-11-19 00:26:18 +00:00
parent dfeea9bb16
commit 6c2077ccc5
5 changed files with 23 additions and 15 deletions
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6
gtsam/symbolic/tests/symbolicExampleGraphs.h
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@ -105,7 +105,11 @@ namespace gtsam {
SymbolicBayesTree result; SymbolicBayesTree result;
result.insertRoot(boost::make_shared<SymbolicBayesTreeClique>( result.insertRoot(boost::make_shared<SymbolicBayesTreeClique>(
boost::make_shared<SymbolicConditional>( boost::make_shared<SymbolicConditional>(
SymbolicConditional::FromKeys(boost::assign::list_of(_S_)(_E_)(_L_)(_B_), 4)))); SymbolicConditional::FromKeys(boost::assign::list_of(_E_)(_L_)(_B_), 3))));
result.addClique(boost::make_shared<SymbolicBayesTreeClique>(
boost::make_shared<SymbolicConditional>(
SymbolicConditional::FromKeys(boost::assign::list_of(_S_)(_B_) (_L_), 1))),
result.roots().front());
result.addClique(boost::make_shared<SymbolicBayesTreeClique>( result.addClique(boost::make_shared<SymbolicBayesTreeClique>(
boost::make_shared<SymbolicConditional>( boost::make_shared<SymbolicConditional>(
SymbolicConditional::FromKeys(boost::assign::list_of(_T_)(_E_)(_L_), 1))), SymbolicConditional::FromKeys(boost::assign::list_of(_T_)(_E_)(_L_), 1))),

21
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
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@ -145,10 +145,10 @@ TEST( BayesTree, removePath2 )
// Check expected outcome // Check expected outcome
SymbolicFactorGraph expected; SymbolicFactorGraph expected;
expected += SymbolicFactor(_S_,_E_,_L_,_B_); expected += SymbolicFactor(_E_,_L_,_B_);
CHECK(assert_equal(expected, factors)); CHECK(assert_equal(expected, factors));
SymbolicBayesTree::Cliques expectedOrphans; SymbolicBayesTree::Cliques expectedOrphans;
expectedOrphans += bayesTree[_T_], bayesTree[_X_]; expectedOrphans += bayesTree[_S_], bayesTree[_T_], bayesTree[_X_];
CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected)); CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
} }
@ -157,7 +157,7 @@ TEST( BayesTree, removePath3 )
{ {
SymbolicBayesTree bayesTree = asiaBayesTree; SymbolicBayesTree bayesTree = asiaBayesTree;
// Call remove-path with clique S // Call remove-path with clique T
SymbolicBayesNet bn; SymbolicBayesNet bn;
SymbolicBayesTree::Cliques orphans; SymbolicBayesTree::Cliques orphans;
bayesTree.removePath(bayesTree[_T_], bn, orphans); bayesTree.removePath(bayesTree[_T_], bn, orphans);
@ -165,11 +165,11 @@ TEST( BayesTree, removePath3 )
// Check expected outcome // Check expected outcome
SymbolicFactorGraph expected; SymbolicFactorGraph expected;
expected += SymbolicFactor(_S_,_E_,_L_,_B_); expected += SymbolicFactor(_E_, _L_, _B_);
expected += SymbolicFactor(_T_, _E_, _L_); expected += SymbolicFactor(_T_, _E_, _L_);
CHECK(assert_equal(expected, factors)); CHECK(assert_equal(expected, factors));
SymbolicBayesTree::Cliques expectedOrphans; SymbolicBayesTree::Cliques expectedOrphans;
expectedOrphans += bayesTree[_X_]; expectedOrphans += bayesTree[_S_], bayesTree[_X_];
CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected)); CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
} }
@ -248,7 +248,8 @@ TEST( BayesTree, removeTop )
// Check expected outcome // Check expected outcome
SymbolicBayesNet expected; SymbolicBayesNet expected;
expected += SymbolicConditional::FromKeys(list_of(_S_)(_E_)(_L_)(_B_), 4); expected += SymbolicConditional::FromKeys(list_of(_E_)(_L_)(_B_), 3);
expected += SymbolicConditional::FromKeys(list_of(_S_)(_B_)(_L_), 1);
CHECK(assert_equal(expected, bn)); CHECK(assert_equal(expected, bn));
SymbolicBayesTree::Cliques expectedOrphans; SymbolicBayesTree::Cliques expectedOrphans;
@ -284,12 +285,12 @@ TEST( BayesTree, removeTop2 )
// Check expected outcome // Check expected outcome
SymbolicBayesNet expected = list_of SymbolicBayesNet expected = list_of
(SymbolicConditional::FromKeys(list_of(_S_)(_E_)(_L_)(_B_), 4)) (SymbolicConditional::FromKeys(list_of(_E_)(_L_)(_B_), 3))
(SymbolicConditional::FromKeys(list_of(_T_)(_E_)(_L_), 1)); (SymbolicConditional::FromKeys(list_of(_T_)(_E_)(_L_), 1));
CHECK(assert_equal(expected, bn)); CHECK(assert_equal(expected, bn));
SymbolicBayesTree::Cliques expectedOrphans; SymbolicBayesTree::Cliques expectedOrphans;
expectedOrphans += bayesTree[_X_]; expectedOrphans += bayesTree[_S_], bayesTree[_X_];
CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected)); CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
} }
@ -414,7 +415,9 @@ TEST( SymbolicBayesTree, thinTree ) {
// check shortcut P(S8||R) to root // check shortcut P(S8||R) to root
SymbolicBayesTree::Clique::shared_ptr c = bayesTree[8]; SymbolicBayesTree::Clique::shared_ptr c = bayesTree[8];
SymbolicBayesNet shortcut = c->shortcut(R); SymbolicBayesNet shortcut = c->shortcut(R);
SymbolicBayesNet expected = list_of(SymbolicConditional(14, 11, 13)); SymbolicBayesNet expected = list_of
(SymbolicConditional(12, 14))
(SymbolicConditional(14, 11, 13));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }

3
gtsam/symbolic/tests/testSymbolicFactorGraph.cpp
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@ -270,7 +270,8 @@ TEST( SymbolicFactorGraph, constructFromBayesTree )
{ {
// create expected factor graph // create expected factor graph
SymbolicFactorGraph expected; SymbolicFactorGraph expected;
expected.push_factor(_S_, _E_, _L_, _B_); expected.push_factor(_E_, _L_, _B_);
expected.push_factor(_S_, _B_, _L_);
expected.push_factor(_T_, _E_, _L_); expected.push_factor(_T_, _E_, _L_);
expected.push_factor(_X_, _E_); expected.push_factor(_X_, _E_);

2
tests/testGaussianBayesTree.cpp
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@ -127,7 +127,7 @@ TEST( GaussianBayesTree, balanced_smoother_marginals )
VectorValues expectedSolution = VectorValues::Zero(actualSolution); VectorValues expectedSolution = VectorValues::Zero(actualSolution);
EXPECT(assert_equal(expectedSolution,actualSolution,tol)); EXPECT(assert_equal(expectedSolution,actualSolution,tol));
LONGS_EQUAL(3, (long)bayesTree.size()); LONGS_EQUAL(4, (long)bayesTree.size());
double tol=1e-5; double tol=1e-5;

2
tests/testGaussianISAM2.cpp
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@ -847,7 +847,7 @@ TEST(ISAM2, marginalCovariance)
TEST(ISAM2, calculate_nnz) TEST(ISAM2, calculate_nnz)
{ {
ISAM2 isam = createSlamlikeISAM2(); ISAM2 isam = createSlamlikeISAM2();
int expected = 262; int expected = 241;
int actual = calculate_nnz(isam.roots().front()); int actual = calculate_nnz(isam.roots().front());
EXPECT_LONGS_EQUAL(expected, actual); EXPECT_LONGS_EQUAL(expected, actual);