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Added EliminationTree and clique-finding unit tests using Alex's DDF test graph

release/4.3a0
Richard Roberts 2013-12-02 18:44:44 +00:00
parent 41ce6cdfba
commit 85bbcf6d1e
2 changed files with 103 additions and 0 deletions
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35
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
View File

@ -78,6 +78,41 @@ TEST(SymbolicBayesTree, clear)
CHECK(assert_equal(expected, bayesTree));
}
/* ************************************************************************* */
TEST(SymbolicJunctionTree, clique_structure)
{
// l1 l2
// / | / |
// x1 --- x2 --- x3 --- x4 --- x5
// \ |
// l3
SymbolicFactorGraph graph;
graph += SymbolicFactor(X(1), L(1));
graph += SymbolicFactor(X(1), X(2));
graph += SymbolicFactor(X(2), L(1));
graph += SymbolicFactor(X(2), X(3));
graph += SymbolicFactor(X(3), X(4));
graph += SymbolicFactor(X(4), L(2));
graph += SymbolicFactor(X(4), X(5));
graph += SymbolicFactor(L(2), X(5));
graph += SymbolicFactor(X(4), L(3));
graph += SymbolicFactor(X(5), L(3));
SymbolicBayesTree expected;
expected.insertRoot(
MakeClique(list_of(X(3)) (X(4)), 2, list_of
(MakeClique(list_of(L(2)) (X(5)) (X(4)), 2, list_of
(MakeClique(list_of(L(3)) (X(4)) (X(5)), 1))))
(MakeClique(list_of(X(2)) (X(3)), 1, list_of
(MakeClique(list_of(L(1)) (X(1)) (X(2)), 2))))));
Ordering order = list_of(L(1)) (X(1)) (X(2)) (L(2)) (L(3)) (X(5)) (X(3)) (X(4));
SymbolicBayesTree actual = *graph.eliminateMultifrontal(order);
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* *
Bayes Tree for testing conversion to a forest of orphans needed for incremental.
A,B

68
gtsam/symbolic/tests/testSymbolicEliminationTree.cpp
View File

@ -20,6 +20,7 @@
#include <vector>
#include <boost/make_shared.hpp>
#include <boost/assign/list_of.hpp>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/symbolic/SymbolicEliminationTree.h>
@ -30,6 +31,7 @@
using namespace gtsam;
using namespace gtsam::symbol_shorthand;
using namespace std;
using boost::assign::list_of;
class EliminationTreeTester {
public:
@ -64,8 +66,37 @@ public:
tree.roots_.push_back(root);
return tree;
}
template<typename ROOTS>
static SymbolicEliminationTree MakeTree(const ROOTS& roots)
{
SymbolicEliminationTree et;
et.roots_.assign(roots.begin(), roots.end());
return et;
}
};
template<typename FACTORS>
static SymbolicEliminationTree::sharedNode MakeNode(Key key, const FACTORS& factors)
{
SymbolicEliminationTree::sharedNode node = boost::make_shared<SymbolicEliminationTree::Node>();
node->key = key;
SymbolicFactorGraph factorsAsGraph = factors;
node->factors.assign(factorsAsGraph.begin(), factorsAsGraph.end());
return node;
}
template<typename FACTORS, typename CHILDREN>
static SymbolicEliminationTree::sharedNode MakeNode(Key key, const FACTORS& factors, const CHILDREN& children)
{
SymbolicEliminationTree::sharedNode node = boost::make_shared<SymbolicEliminationTree::Node>();
node->key = key;
SymbolicFactorGraph factorsAsGraph = factors;
node->factors.assign(factorsAsGraph.begin(), factorsAsGraph.end());
node->children.assign(children.begin(), children.end());
return node;
}
/* ************************************************************************* */
TEST(EliminationTree, Create)
@ -81,6 +112,43 @@ TEST(EliminationTree, Create)
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(EliminationTree, Create2)
{
// l1 l2
// / | / |
// x1 --- x2 --- x3 --- x4 --- x5
// \ |
// l3
SymbolicFactorGraph graph;
graph += SymbolicFactor(X(1), L(1));
graph += SymbolicFactor(X(1), X(2));
graph += SymbolicFactor(X(2), L(1));
graph += SymbolicFactor(X(2), X(3));
graph += SymbolicFactor(X(3), X(4));
graph += SymbolicFactor(X(4), L(2));
graph += SymbolicFactor(X(4), X(5));
graph += SymbolicFactor(L(2), X(5));
graph += SymbolicFactor(X(4), L(3));
graph += SymbolicFactor(X(5), L(3));
SymbolicEliminationTree expected = EliminationTreeTester::MakeTree(list_of
(MakeNode(X(4), SymbolicFactorGraph(), list_of
(MakeNode(X(3), list_of(SymbolicFactor(X(3), X(4))), list_of
(MakeNode(X(2), list_of(SymbolicFactor(X(2), X(3))), list_of
(MakeNode(X(1), list_of(SymbolicFactor(X(1), X(2))), list_of
(MakeNode(L(1), list_of(SymbolicFactor(X(1), L(1))) (SymbolicFactor(X(2), L(1)))))))))))
(MakeNode(X(5), list_of(SymbolicFactor(X(4), X(5))), list_of
(MakeNode(L(2), list_of(SymbolicFactor(X(4), L(2))) (SymbolicFactor(L(2), X(5)))))
(MakeNode(L(3), list_of(SymbolicFactor(X(4), L(3))) (SymbolicFactor(X(5), L(3))))))))));
Ordering order = list_of(L(1)) (X(1)) (X(2)) (L(2)) (L(3)) (X(5)) (X(3)) (X(4));
SymbolicEliminationTree actual(graph, order);
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;