BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
Michael Kaess
parent
64a43b0492
commit
7d384488e3
38
.cproject
38
.cproject
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@ -300,7 +300,6 @@
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<buildTargets>
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<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -308,7 +307,6 @@
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</target>
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<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -324,7 +322,6 @@
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</target>
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<target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimpleCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -340,6 +337,7 @@
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</target>
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<target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -347,7 +345,6 @@
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</target>
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<target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -355,6 +352,7 @@
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</target>
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<target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianConditional.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -362,7 +360,6 @@
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</target>
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<target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -370,7 +367,6 @@
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</target>
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<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -378,6 +374,7 @@
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</target>
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<target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -385,7 +382,6 @@
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</target>
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<target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -393,7 +389,6 @@
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</target>
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<target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -401,6 +396,7 @@
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</target>
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<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -408,7 +404,6 @@
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</target>
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<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -416,6 +411,7 @@
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</target>
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<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVectorConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -423,6 +419,7 @@
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</target>
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<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPoint2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -430,7 +427,6 @@
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</target>
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<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -438,7 +434,6 @@
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</target>
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<target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -446,7 +441,6 @@
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</target>
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<target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -454,7 +448,6 @@
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</target>
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<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -462,6 +455,7 @@
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</target>
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<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -469,7 +463,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -477,6 +470,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -484,7 +478,6 @@
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</target>
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<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -492,21 +485,14 @@
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</target>
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<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testMatrix.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testIncremental.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildTarget>testIncremental.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -514,6 +500,7 @@
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</target>
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<target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearEquality.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -521,7 +508,6 @@
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</target>
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<target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSQP.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -529,6 +515,7 @@
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</target>
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<target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearConstraint.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -536,6 +523,7 @@
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -543,6 +531,7 @@
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -550,6 +539,7 @@
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -2,6 +2,8 @@
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* @file BayesTree.cpp
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* @brief Bayes Tree is a tree of cliques of a Bayes Chain
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* @author Frank Dellaert
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* @author Michael Kaess
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* @author Viorela Ila
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*/
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#include <boost/foreach.hpp>
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@ -417,6 +419,45 @@ namespace gtsam {
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}
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/* ************************************************************************* */
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template<class Conditional>
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template<class Factor>
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void BayesTree<Conditional>::update(const FactorGraph<Factor>& newFactors) {
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// Remove the contaminated part of the Bayes tree
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FactorGraph<Factor> factors;
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typename BayesTree<Conditional>::Cliques orphans;
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BOOST_FOREACH(boost::shared_ptr<Factor> factor, newFactors) {
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FactorGraph<Factor> factors1;
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typename BayesTree<Conditional>::Cliques orphans1;
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boost::tie(factors1, orphans1) = removeTop<Factor>(factor);
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factors.push_back(factors1);
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orphans.splice (orphans.begin(), orphans1);
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}
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// add the factors themselves
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factors.push_back(newFactors);
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// create an ordering for the new and contaminated factors
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Ordering ordering = factors.getOrdering();
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// eliminate into a Bayes net
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BayesNet<Conditional> bayesNet = eliminate<Factor, Conditional>(factors,ordering);
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// insert conditionals back in, straight into the topless bayesTree
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typename BayesNet<Conditional>::const_reverse_iterator rit;
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for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit )
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insert(*rit);
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// add orphans to the bottom of the new tree
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BOOST_FOREACH(typename BayesTree<Conditional>::sharedClique orphan, orphans) {
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string key = orphan->separator_.front(); // todo: assumes there is a separator...
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typename BayesTree<Conditional>::sharedClique parent = (*this)[key];
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parent->children_ += orphan;
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}
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}
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/* ************************************************************************* */
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}
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/// namespace gtsam
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@ -177,6 +177,12 @@ namespace gtsam {
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template<class Factor>
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std::pair<FactorGraph<Factor>, Cliques> removeTop(const boost::shared_ptr<Factor>& newFactor);
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/**
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* iSAM.
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*/
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template<class Factor>
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void update(const FactorGraph<Factor>& newFactors);
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}; // BayesTree
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} /// namespace gtsam
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@ -64,15 +64,13 @@ example = smallExample.cpp
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headers += inference.h inference-inl.h
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headers += FactorGraph.h FactorGraph-inl.h
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headers += BayesNet.h BayesNet-inl.h BayesTree.h BayesTree-inl.h
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check_PROGRAMS += testFactorgraph testBayesTree testInference testIncremental
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check_PROGRAMS += testFactorgraph testBayesTree testInference
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testFactorgraph_SOURCES = testFactorgraph.cpp
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testBayesTree_SOURCES = $(example) testBayesTree.cpp
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testInference_SOURCES = $(example) testInference.cpp
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testIncremental_SOURCES = $(example) testIncremental.cpp
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testFactorgraph_LDADD = libgtsam.la
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testBayesTree_LDADD = libgtsam.la
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testInference_LDADD = libgtsam.la
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testIncremental_LDADD = libgtsam.la
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# Symbolic Inference
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headers += SymbolicConditional.h
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@ -2,6 +2,8 @@
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* @file testBayesTree.cpp
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* @brief Unit tests for Bayes Tree
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* @author Frank Dellaert
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* @author Michael Kaess
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* @author Viorela Ila
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*/
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#include <boost/assign/std/list.hpp> // for operator +=
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@ -435,6 +437,58 @@ TEST( BayesTree, removeTop )
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CHECK(assert_equal(expectedOrphans2, orphans));
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}
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/* ************************************************************************* */
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TEST( BayesTree, iSAM )
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{
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// Conditionals for ASIA example from the tutorial with A and D evidence
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SymbolicConditional::shared_ptr
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B(new SymbolicConditional("B")),
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L(new SymbolicConditional("L", "B")),
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E(new SymbolicConditional("E", "B", "L")),
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S(new SymbolicConditional("S", "L", "B")),
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T(new SymbolicConditional("T", "E", "L")),
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X(new SymbolicConditional("X", "E"));
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// Create using insert
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SymbolicBayesTree bayesTree;
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bayesTree.insert(B);
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bayesTree.insert(L);
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bayesTree.insert(E);
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bayesTree.insert(S);
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bayesTree.insert(T);
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bayesTree.insert(X);
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// Now we modify the Bayes tree by inserting a new factor over B and S
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// New conditionals in modified top of the tree
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SymbolicConditional::shared_ptr
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S_(new SymbolicConditional("S")),
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L_(new SymbolicConditional("L", "S")),
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E_(new SymbolicConditional("E", "L", "S")),
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B_(new SymbolicConditional("B", "E", "L", "S"));
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// Create expected Bayes tree
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SymbolicBayesTree expected;
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expected.insert(S_);
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expected.insert(L_);
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expected.insert(E_);
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expected.insert(B_);
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expected.insert(T);
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expected.insert(X);
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// create new factors to be inserted
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SymbolicFactorGraph factorGraph;
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factorGraph.push_factor("B","S");
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factorGraph.push_factor("B");
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// do incremental inference
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bayesTree.update(factorGraph);
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// Check whether the same
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CHECK(assert_equal(expected,bayesTree));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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@ -1,124 +0,0 @@
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/**
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* @file testIncremental.cpp
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* @brief Unit tests for graph-based iSAM
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* @author Michael Kaess
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* @author Viorela Ila
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* @author Frank Dellaert
|
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*/
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#include <boost/tuple/tuple.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
|
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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|
||||
#include "SymbolicBayesNet.h"
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#include "SymbolicFactorGraph.h"
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#include "GaussianBayesNet.h"
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||||
#include "Ordering.h"
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#include "BayesTree-inl.h"
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||||
#include "smallExample.h"
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|
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using namespace std;
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using namespace gtsam;
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||||
|
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typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
|
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typedef BayesTree<GaussianConditional> GaussianBayesTree;
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||||
|
||||
/* ************************************************************************* */
|
||||
|
||||
void update(SymbolicBayesTree& bayesTree, const FactorGraph<SymbolicFactor>& newFactors) {
|
||||
|
||||
// Remove the contaminated part of the Bayes tree
|
||||
FactorGraph<SymbolicFactor> factors;
|
||||
SymbolicBayesTree::Cliques orphans;
|
||||
BOOST_FOREACH(boost::shared_ptr<SymbolicFactor> factor, newFactors) {
|
||||
|
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FactorGraph<SymbolicFactor> factors1;
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||||
SymbolicBayesTree::Cliques orphans1;
|
||||
boost::tie(factors1, orphans1) = bayesTree.removeTop<SymbolicFactor>(factor);
|
||||
|
||||
factors.push_back(factors1);
|
||||
orphans.splice (orphans.begin(), orphans1);
|
||||
}
|
||||
|
||||
// add the factors themselves
|
||||
factors.push_back(newFactors);
|
||||
|
||||
// create an ordering for the new and contaminated factors
|
||||
Ordering ordering = factors.getOrdering();
|
||||
|
||||
// eliminate into a Bayes net
|
||||
SymbolicBayesNet bayesNet = eliminate<SymbolicFactor,SymbolicConditional>(factors,ordering);
|
||||
|
||||
// insert conditionals back in, straight into the topless bayesTree
|
||||
SymbolicBayesNet::const_reverse_iterator rit;
|
||||
for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit )
|
||||
bayesTree.insert(*rit);
|
||||
|
||||
// add orphans to the bottom of the new tree
|
||||
BOOST_FOREACH(SymbolicBayesTree::sharedClique orphan, orphans) {
|
||||
string key = orphan->separator_.front(); // todo: assumes there is a separator...
|
||||
SymbolicBayesTree::sharedClique parent = bayesTree[key];
|
||||
parent->children_ += orphan;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( BayesTree, iSAM )
|
||||
{
|
||||
// Conditionals for ASIA example from the tutorial with A and D evidence
|
||||
SymbolicConditional::shared_ptr
|
||||
B(new SymbolicConditional("B")),
|
||||
L(new SymbolicConditional("L", "B")),
|
||||
E(new SymbolicConditional("E", "B", "L")),
|
||||
S(new SymbolicConditional("S", "L", "B")),
|
||||
T(new SymbolicConditional("T", "E", "L")),
|
||||
X(new SymbolicConditional("X", "E"));
|
||||
|
||||
// Create using insert
|
||||
SymbolicBayesTree bayesTree;
|
||||
bayesTree.insert(B);
|
||||
bayesTree.insert(L);
|
||||
bayesTree.insert(E);
|
||||
bayesTree.insert(S);
|
||||
bayesTree.insert(T);
|
||||
bayesTree.insert(X);
|
||||
|
||||
// Now we modify the Bayes tree by inserting a new factor over B and S
|
||||
|
||||
// New conditionals in modified top of the tree
|
||||
SymbolicConditional::shared_ptr
|
||||
S_(new SymbolicConditional("S")),
|
||||
L_(new SymbolicConditional("L", "S")),
|
||||
E_(new SymbolicConditional("E", "L", "S")),
|
||||
B_(new SymbolicConditional("B", "E", "L", "S"));
|
||||
|
||||
// Create expected Bayes tree
|
||||
SymbolicBayesTree expected;
|
||||
expected.insert(S_);
|
||||
expected.insert(L_);
|
||||
expected.insert(E_);
|
||||
expected.insert(B_);
|
||||
expected.insert(T);
|
||||
expected.insert(X);
|
||||
|
||||
// create new factors to be inserted
|
||||
SymbolicFactorGraph factorGraph;
|
||||
factorGraph.push_factor("B","S");
|
||||
factorGraph.push_factor("B");
|
||||
|
||||
// do incremental inference
|
||||
update(bayesTree, factorGraph);
|
||||
|
||||
// Check whether the same
|
||||
CHECK(assert_equal(expected,bayesTree));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
Loading…
Reference in New Issue