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Fix unit tests

release/4.3a0
Frank Dellaert 2023-07-17 16:54:50 +02:00
parent 433ef9050f
commit 6eeceb679a
3 changed files with 16 additions and 16 deletions
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16
gtsam/discrete/tests/testDiscreteBayesTree.cpp
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@ -347,26 +347,26 @@ TEST(DiscreteBayesTree, Lookup) {
EXPECT_LONGS_EQUAL(2, lookup->size());
auto lookup_x1_a1_x2 = (*lookup)[X(1)]->conditional();
EXPECT_LONGS_EQUAL(3, lookup_x1_a1_x2->frontals().size());
// check that sum is 100
// check that sum is 1.0 (not 100, as we now normalize)
DiscreteValues empty;
EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2->sum(3))(empty), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*lookup_x1_a1_x2->sum(3))(empty), 1e-9);
// And that only non-zero reward is for x1 a1 x2 == 0 1 1
EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2)({{X(1),0},{A(1),1},{X(2),1}}), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*lookup_x1_a1_x2)({{X(1),0},{A(1),1},{X(2),1}}), 1e-9);
auto lookup_a2_x3 = (*lookup)[X(3)]->conditional();
// check that the sum depends on x2 and is non-zero only for x2 \in {1,2}
auto sum_x2 = lookup_a2_x3->sum(2);
EXPECT_DOUBLES_EQUAL(0, (*sum_x2)({{X(2),0}}), 1e-9);
EXPECT_DOUBLES_EQUAL(10, (*sum_x2)({{X(2),1}}), 1e-9);
EXPECT_DOUBLES_EQUAL(20, (*sum_x2)({{X(2),2}}), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*sum_x2)({{X(2),1}}), 1e-9);
EXPECT_DOUBLES_EQUAL(2.0, (*sum_x2)({{X(2),2}}), 1e-9);
EXPECT_LONGS_EQUAL(2, lookup_a2_x3->frontals().size());
// And that the non-zero rewards are for
// x2 a2 x3 == 1 1 2
EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),1},{A(2),1},{X(3),2}}), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),1},{A(2),1},{X(3),2}}), 1e-9);
// x2 a2 x3 == 2 0 2
EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),0},{X(3),2}}), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),2},{A(2),0},{X(3),2}}), 1e-9);
// x2 a2 x3 == 2 1 2
EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
}
/* ************************************************************************* */

4
gtsam_unstable/linear/tests/testQPSolver.cpp
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@ -181,7 +181,7 @@ TEST(QPSolver, iterate) {
QPSolver::State state(currentSolution, VectorValues(), workingSet, false,
100);
int it = 0;
// int it = 0;
while (!state.converged) {
state = solver.iterate(state);
// These checks will fail because the expected solutions obtained from
@ -190,7 +190,7 @@ TEST(QPSolver, iterate) {
// do not recompute dual variables after every step!!!
// CHECK(assert_equal(expected[it], state.values, 1e-10));
// CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10));
it++;
// it++;
}
CHECK(assert_equal(expected[3], state.values, 1e-10));

12
python/gtsam/tests/test_DiscreteBayesTree.py
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@ -128,15 +128,15 @@ class TestDiscreteBayesNet(GtsamTestCase):
assert lookup.size() == 2
lookup_x1_a1_x2 = lookup[X(1)].conditional()
assert lookup_x1_a1_x2.nrFrontals() == 3
# Check that sum is 100
# Check that sum is 1.0 (not 100, as we now normalize to prevent underflow)
empty = gtsam.DiscreteValues()
self.assertAlmostEqual(lookup_x1_a1_x2.sum(3)(empty), 100)
self.assertAlmostEqual(lookup_x1_a1_x2.sum(3)(empty), 1.0)
# And that only non-zero reward is for x1 a1 x2 == 0 1 1
values = DiscreteValues()
values[X(1)] = 0
values[A(1)] = 1
values[X(2)] = 1
self.assertAlmostEqual(lookup_x1_a1_x2(values), 100)
self.assertAlmostEqual(lookup_x1_a1_x2(values), 1.0)
lookup_a2_x3 = lookup[X(3)].conditional()
# Check that the sum depends on x2 and is non-zero only for x2 in {1, 2}
@ -145,16 +145,16 @@ class TestDiscreteBayesNet(GtsamTestCase):
values[X(2)] = 0
self.assertAlmostEqual(sum_x2(values), 0)
values[X(2)] = 1
self.assertAlmostEqual(sum_x2(values), 10)
self.assertAlmostEqual(sum_x2(values), 1.0) # not 10, as we normalize
values[X(2)] = 2
self.assertAlmostEqual(sum_x2(values), 20)
self.assertAlmostEqual(sum_x2(values), 2.0) # not 20, as we normalize
assert lookup_a2_x3.nrFrontals() == 2
# And that the non-zero rewards are for x2 a2 x3 == 1 1 2
values = DiscreteValues()
values[X(2)] = 1
values[A(2)] = 1
values[X(3)] = 2
self.assertAlmostEqual(lookup_a2_x3(values), 10)
self.assertAlmostEqual(lookup_a2_x3(values), 1.0) # not 10...
if __name__ == "__main__":
unittest.main()