diff --git a/gtsam/symbolic/tests/symbolicExampleGraphs.h b/gtsam/symbolic/tests/symbolicExampleGraphs.h index 5052eb04c..c49633b53 100644 --- a/gtsam/symbolic/tests/symbolicExampleGraphs.h +++ b/gtsam/symbolic/tests/symbolicExampleGraphs.h @@ -67,10 +67,10 @@ namespace gtsam { SymbolicBayesTree result; result.insertRoot(boost::make_shared( boost::make_shared( - SymbolicConditional::FromKeys(boost::assign::list_of(3)(2), 2)))); + SymbolicConditional::FromKeys(boost::assign::list_of(2)(3), 2)))); result.addClique(boost::make_shared( boost::make_shared( - SymbolicConditional::FromKeys(boost::assign::list_of(1)(0)(2), 2))), + SymbolicConditional::FromKeys(boost::assign::list_of(0)(1)(2), 2))), result.roots().front()); return result; } @@ -105,7 +105,7 @@ namespace gtsam { SymbolicBayesTree result; result.insertRoot(boost::make_shared( boost::make_shared( - SymbolicConditional::FromKeys(boost::assign::list_of(_B_)(_L_)(_E_)(_S_), 4)))); + SymbolicConditional::FromKeys(boost::assign::list_of(_S_)(_E_)(_L_)(_B_), 4)))); result.addClique(boost::make_shared( boost::make_shared( SymbolicConditional::FromKeys(boost::assign::list_of(_T_)(_E_)(_L_), 1))), diff --git a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp index 2104a364b..413696246 100644 --- a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp +++ b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp @@ -145,7 +145,7 @@ TEST( BayesTreeOrdered, removePath2 ) // Check expected outcome SymbolicFactorGraph expected; - expected += SymbolicFactor(_B_,_L_,_E_,_S_); + expected += SymbolicFactor(_S_,_E_,_L_,_B_); CHECK(assert_equal(expected, factors)); SymbolicBayesTree::Cliques expectedOrphans; expectedOrphans += bayesTree[_T_], bayesTree[_X_]; @@ -165,7 +165,7 @@ TEST( BayesTreeOrdered, removePath3 ) // Check expected outcome SymbolicFactorGraph expected; - expected += SymbolicFactor(_B_,_L_,_E_,_S_); + expected += SymbolicFactor(_S_,_E_,_L_,_B_); expected += SymbolicFactor(_T_,_E_,_L_); CHECK(assert_equal(expected, factors)); SymbolicBayesTree::Cliques expectedOrphans; @@ -248,7 +248,7 @@ TEST( BayesTreeOrdered, removeTop ) // Check expected outcome SymbolicBayesNet expected; - expected += SymbolicConditional::FromKeys(list_of(_B_)(_L_)(_E_)(_S_), 4); + expected += SymbolicConditional::FromKeys(list_of(_S_)(_E_)(_L_)(_B_), 4); CHECK(assert_equal(expected, bn)); SymbolicBayesTree::Cliques expectedOrphans; @@ -284,7 +284,7 @@ TEST( BayesTreeOrdered, removeTop2 ) // Check expected outcome SymbolicBayesNet expected = list_of - (SymbolicConditional::FromKeys(list_of(_B_)(_L_)(_E_)(_S_), 4)) + (SymbolicConditional::FromKeys(list_of(_S_)(_E_)(_L_)(_B_), 4)) (SymbolicConditional::FromKeys(list_of(_T_)(_E_)(_L_), 1)); CHECK(assert_equal(expected, bn)); @@ -310,7 +310,7 @@ TEST( BayesTreeOrdered, removeTop3 ) bayesTree.removeTop(list_of(L(5))(X(4))(X(2))(X(3)), bn, orphans); SymbolicBayesNet expectedBn = list_of - (SymbolicConditional::FromKeys(list_of(L(5))(X(4)), 2)) + (SymbolicConditional::FromKeys(list_of(X(4))(L(5)), 2)) (SymbolicConditional(X(2), X(4))) (SymbolicConditional(X(3), X(2))); EXPECT(assert_equal(expectedBn, bn)); @@ -334,7 +334,7 @@ TEST( BayesTreeOrdered, removeTop4 ) bayesTree.removeTop(list_of(X(2))(L(5))(X(4))(X(3)), bn, orphans); SymbolicBayesNet expectedBn = list_of - (SymbolicConditional::FromKeys(list_of(L(5))(X(4)), 2)) + (SymbolicConditional::FromKeys(list_of(X(4))(L(5)), 2)) (SymbolicConditional(X(2), X(4))) (SymbolicConditional(X(3), X(2))); EXPECT(assert_equal(expectedBn, bn)); @@ -372,8 +372,7 @@ TEST( SymbolicBayesTree, thinTree ) { } // create a BayesTree out of a Bayes net - Ordering ordering(bayesNet.keys()); - SymbolicBayesTree bayesTree = *SymbolicFactorGraph(bayesNet).eliminateMultifrontal(ordering); + SymbolicBayesTree bayesTree = *SymbolicFactorGraph(bayesNet).eliminateMultifrontal(); if (debug) { GTSAM_PRINT(bayesTree); bayesTree.saveGraph("/tmp/SymbolicBayesTree.dot"); @@ -385,7 +384,7 @@ TEST( SymbolicBayesTree, thinTree ) { // check shortcut P(S9||R) to root SymbolicBayesTree::Clique::shared_ptr c = bayesTree[9]; SymbolicBayesNet shortcut = c->shortcut(R); - SymbolicBayesNet expected; + SymbolicBayesNet expected = list_of(SymbolicConditional(14, 11, 13)); EXPECT(assert_equal(expected, shortcut)); } @@ -393,7 +392,7 @@ TEST( SymbolicBayesTree, thinTree ) { // check shortcut P(S8||R) to root SymbolicBayesTree::Clique::shared_ptr c = bayesTree[8]; SymbolicBayesNet shortcut = c->shortcut(R); - SymbolicBayesNet expected = list_of(SymbolicConditional(12, 14)); + SymbolicBayesNet expected = list_of(SymbolicConditional(14, 11, 13)); EXPECT(assert_equal(expected, shortcut)); } @@ -401,8 +400,7 @@ TEST( SymbolicBayesTree, thinTree ) { // check shortcut P(S4||R) to root SymbolicBayesTree::Clique::shared_ptr c = bayesTree[4]; SymbolicBayesNet shortcut = c->shortcut(R); - SymbolicBayesNet expected; - expected.push_back(boost::make_shared(10, 13, 14)); + SymbolicBayesNet expected = list_of(SymbolicConditional(10, 11, 13)); EXPECT(assert_equal(expected, shortcut)); } @@ -410,9 +408,8 @@ TEST( SymbolicBayesTree, thinTree ) { // check shortcut P(S2||R) to root SymbolicBayesTree::Clique::shared_ptr c = bayesTree[2]; SymbolicBayesNet shortcut = c->shortcut(R); - SymbolicBayesNet expected; - expected.push_back(boost::make_shared(12, 14)); - expected.push_back(boost::make_shared(9, 12, 14)); + SymbolicBayesNet expected = list_of(SymbolicConditional(9, 11, 12, 13)) + (SymbolicConditional(12, 11, 13)); EXPECT(assert_equal(expected, shortcut)); } @@ -420,9 +417,8 @@ TEST( SymbolicBayesTree, thinTree ) { // check shortcut P(S0||R) to root SymbolicBayesTree::Clique::shared_ptr c = bayesTree[0]; SymbolicBayesNet shortcut = c->shortcut(R); - SymbolicBayesNet expected; - expected.push_back(boost::make_shared(12, 14)); - expected.push_back(boost::make_shared(8, 12, 14)); + SymbolicBayesNet expected = list_of(SymbolicConditional(8, 11, 12, 13)) + (SymbolicConditional(12, 11, 13)); EXPECT(assert_equal(expected, shortcut)); } diff --git a/gtsam/symbolic/tests/testSymbolicFactorGraph.cpp b/gtsam/symbolic/tests/testSymbolicFactorGraph.cpp index 10c75529d..6ac15d148 100644 --- a/gtsam/symbolic/tests/testSymbolicFactorGraph.cpp +++ b/gtsam/symbolic/tests/testSymbolicFactorGraph.cpp @@ -84,7 +84,7 @@ TEST(SymbolicFactorGraphOrdered, eliminatePartialMultifrontal) { SymbolicBayesTree expectedBayesTree; SymbolicConditional::shared_ptr root = boost::make_shared( - SymbolicConditional::FromKeys(list_of(5)(4)(1), 2)); + SymbolicConditional::FromKeys(list_of(4)(5)(1), 2)); expectedBayesTree.insertRoot(boost::make_shared(root)); SymbolicFactorGraph expectedFactorGraph = list_of @@ -248,7 +248,7 @@ TEST( SymbolicFactorGraphOrdered, constructFromBayesTree ) { // create expected factor graph SymbolicFactorGraph expected; - expected.push_factor(_B_, _L_, _E_, _S_); + expected.push_factor(_S_, _E_, _L_, _B_); expected.push_factor(_T_, _E_, _L_); expected.push_factor(_X_, _E_); diff --git a/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp b/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp index f9dd344a3..e94919107 100644 --- a/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp +++ b/gtsam/symbolic/tests/testSymbolicJunctionTree.cpp @@ -44,8 +44,8 @@ TEST( JunctionTreeOrdered, constructor ) SymbolicJunctionTree actual(SymbolicEliminationTree(simpleChain, order)); - vector frontal1; frontal1 += 3, 2; - vector frontal2; frontal2 += 1, 0; + vector frontal1; frontal1 += 2, 3; + vector frontal2; frontal2 += 0, 1; vector sep1; vector sep2; sep2 += 2; EXPECT(assert_equal(frontal1, actual.roots().front()->keys));