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Fixed order of variables in expected factors in unit tests

release/4.3a0
Richard Roberts 2013-07-29 23:56:02 +00:00
parent 3ade190128
commit 735c7a8650
4 changed files with 21 additions and 25 deletions
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6
gtsam/symbolic/tests/symbolicExampleGraphs.h
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@ -67,10 +67,10 @@ 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(3)(2), 2)))); SymbolicConditional::FromKeys(boost::assign::list_of(2)(3), 2))));
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(1)(0)(2), 2))), SymbolicConditional::FromKeys(boost::assign::list_of(0)(1)(2), 2))),
result.roots().front()); result.roots().front());
return result; return result;
} }
@ -105,7 +105,7 @@ 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(_B_)(_L_)(_E_)(_S_), 4)))); SymbolicConditional::FromKeys(boost::assign::list_of(_S_)(_E_)(_L_)(_B_), 4))));
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))),

32
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
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@ -145,7 +145,7 @@ TEST( BayesTreeOrdered, removePath2 )
// Check expected outcome // Check expected outcome
SymbolicFactorGraph expected; SymbolicFactorGraph expected;
expected += SymbolicFactor(_B_,_L_,_E_,_S_); expected += SymbolicFactor(_S_,_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[_T_], bayesTree[_X_];
@ -165,7 +165,7 @@ TEST( BayesTreeOrdered, removePath3 )
// Check expected outcome // Check expected outcome
SymbolicFactorGraph expected; SymbolicFactorGraph expected;
expected += SymbolicFactor(_B_,_L_,_E_,_S_); expected += SymbolicFactor(_S_,_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;
@ -248,7 +248,7 @@ TEST( BayesTreeOrdered, removeTop )
// Check expected outcome // Check expected outcome
SymbolicBayesNet expected; 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)); CHECK(assert_equal(expected, bn));
SymbolicBayesTree::Cliques expectedOrphans; SymbolicBayesTree::Cliques expectedOrphans;
@ -284,7 +284,7 @@ TEST( BayesTreeOrdered, removeTop2 )
// Check expected outcome // Check expected outcome
SymbolicBayesNet expected = list_of 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)); (SymbolicConditional::FromKeys(list_of(_T_)(_E_)(_L_), 1));
CHECK(assert_equal(expected, bn)); 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); bayesTree.removeTop(list_of(L(5))(X(4))(X(2))(X(3)), bn, orphans);
SymbolicBayesNet expectedBn = list_of 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(2), X(4)))
(SymbolicConditional(X(3), X(2))); (SymbolicConditional(X(3), X(2)));
EXPECT(assert_equal(expectedBn, bn)); 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); bayesTree.removeTop(list_of(X(2))(L(5))(X(4))(X(3)), bn, orphans);
SymbolicBayesNet expectedBn = list_of 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(2), X(4)))
(SymbolicConditional(X(3), X(2))); (SymbolicConditional(X(3), X(2)));
EXPECT(assert_equal(expectedBn, bn)); EXPECT(assert_equal(expectedBn, bn));
@ -372,8 +372,7 @@ TEST( SymbolicBayesTree, thinTree ) {
} }
// create a BayesTree out of a Bayes net // create a BayesTree out of a Bayes net
Ordering ordering(bayesNet.keys()); SymbolicBayesTree bayesTree = *SymbolicFactorGraph(bayesNet).eliminateMultifrontal();
SymbolicBayesTree bayesTree = *SymbolicFactorGraph(bayesNet).eliminateMultifrontal(ordering);
if (debug) { if (debug) {
GTSAM_PRINT(bayesTree); GTSAM_PRINT(bayesTree);
bayesTree.saveGraph("/tmp/SymbolicBayesTree.dot"); bayesTree.saveGraph("/tmp/SymbolicBayesTree.dot");
@ -385,7 +384,7 @@ TEST( SymbolicBayesTree, thinTree ) {
// check shortcut P(S9||R) to root // check shortcut P(S9||R) to root
SymbolicBayesTree::Clique::shared_ptr c = bayesTree[9]; SymbolicBayesTree::Clique::shared_ptr c = bayesTree[9];
SymbolicBayesNet shortcut = c->shortcut(R); SymbolicBayesNet shortcut = c->shortcut(R);
SymbolicBayesNet expected; SymbolicBayesNet expected = list_of(SymbolicConditional(14, 11, 13));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }
@ -393,7 +392,7 @@ 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(12, 14)); SymbolicBayesNet expected = list_of(SymbolicConditional(14, 11, 13));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }
@ -401,8 +400,7 @@ TEST( SymbolicBayesTree, thinTree ) {
// check shortcut P(S4||R) to root // check shortcut P(S4||R) to root
SymbolicBayesTree::Clique::shared_ptr c = bayesTree[4]; SymbolicBayesTree::Clique::shared_ptr c = bayesTree[4];
SymbolicBayesNet shortcut = c->shortcut(R); SymbolicBayesNet shortcut = c->shortcut(R);
SymbolicBayesNet expected; SymbolicBayesNet expected = list_of(SymbolicConditional(10, 11, 13));
expected.push_back(boost::make_shared<SymbolicConditional>(10, 13, 14));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }
@ -410,9 +408,8 @@ TEST( SymbolicBayesTree, thinTree ) {
// check shortcut P(S2||R) to root // check shortcut P(S2||R) to root
SymbolicBayesTree::Clique::shared_ptr c = bayesTree[2]; SymbolicBayesTree::Clique::shared_ptr c = bayesTree[2];
SymbolicBayesNet shortcut = c->shortcut(R); SymbolicBayesNet shortcut = c->shortcut(R);
SymbolicBayesNet expected; SymbolicBayesNet expected = list_of(SymbolicConditional(9, 11, 12, 13))
expected.push_back(boost::make_shared<SymbolicConditional>(12, 14)); (SymbolicConditional(12, 11, 13));
expected.push_back(boost::make_shared<SymbolicConditional>(9, 12, 14));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }
@ -420,9 +417,8 @@ TEST( SymbolicBayesTree, thinTree ) {
// check shortcut P(S0||R) to root // check shortcut P(S0||R) to root
SymbolicBayesTree::Clique::shared_ptr c = bayesTree[0]; SymbolicBayesTree::Clique::shared_ptr c = bayesTree[0];
SymbolicBayesNet shortcut = c->shortcut(R); SymbolicBayesNet shortcut = c->shortcut(R);
SymbolicBayesNet expected; SymbolicBayesNet expected = list_of(SymbolicConditional(8, 11, 12, 13))
expected.push_back(boost::make_shared<SymbolicConditional>(12, 14)); (SymbolicConditional(12, 11, 13));
expected.push_back(boost::make_shared<SymbolicConditional>(8, 12, 14));
EXPECT(assert_equal(expected, shortcut)); EXPECT(assert_equal(expected, shortcut));
} }

4
gtsam/symbolic/tests/testSymbolicFactorGraph.cpp
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@ -84,7 +84,7 @@ TEST(SymbolicFactorGraphOrdered, eliminatePartialMultifrontal)
{ {
SymbolicBayesTree expectedBayesTree; SymbolicBayesTree expectedBayesTree;
SymbolicConditional::shared_ptr root = boost::make_shared<SymbolicConditional>( SymbolicConditional::shared_ptr root = boost::make_shared<SymbolicConditional>(
SymbolicConditional::FromKeys(list_of(5)(4)(1), 2)); SymbolicConditional::FromKeys(list_of(4)(5)(1), 2));
expectedBayesTree.insertRoot(boost::make_shared<SymbolicBayesTreeClique>(root)); expectedBayesTree.insertRoot(boost::make_shared<SymbolicBayesTreeClique>(root));
SymbolicFactorGraph expectedFactorGraph = list_of SymbolicFactorGraph expectedFactorGraph = list_of
@ -248,7 +248,7 @@ TEST( SymbolicFactorGraphOrdered, constructFromBayesTree )
{ {
// create expected factor graph // create expected factor graph
SymbolicFactorGraph expected; 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(_T_, _E_, _L_);
expected.push_factor(_X_, _E_); expected.push_factor(_X_, _E_);

4
gtsam/symbolic/tests/testSymbolicJunctionTree.cpp
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@ -44,8 +44,8 @@ TEST( JunctionTreeOrdered, constructor )
SymbolicJunctionTree actual(SymbolicEliminationTree(simpleChain, order)); SymbolicJunctionTree actual(SymbolicEliminationTree(simpleChain, order));
vector<Index> frontal1; frontal1 += 3, 2; vector<Index> frontal1; frontal1 += 2, 3;
vector<Index> frontal2; frontal2 += 1, 0; vector<Index> frontal2; frontal2 += 0, 1;
vector<Index> sep1; vector<Index> sep1;
vector<Index> sep2; sep2 += 2; vector<Index> sep2; sep2 += 2;
EXPECT(assert_equal(frontal1, actual.roots().front()->keys)); EXPECT(assert_equal(frontal1, actual.roots().front()->keys));