Reenabled BayesTree edit unit tests, and have some passing
Richard Roberts
parent
1ee51fb6f5
commit
865b2162ee
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@ -24,9 +24,13 @@
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#include <boost/assign/list_of.hpp>
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#include <boost/assign/std/vector.hpp>
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#include <boost/assign/std/list.hpp>
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#include <boost/range/adaptor/indirected.hpp>
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using namespace boost::assign;
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using boost::adaptors::indirected;
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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using namespace std;
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using namespace gtsam;
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@ -36,22 +40,22 @@ static bool debug = false;
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namespace {
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/* ************************************************************************* */
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// Conditionals for ASIA example from the tutorial with A and D evidence
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SymbolicConditionalUnordered::shared_ptr
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B(new SymbolicConditionalUnordered(_B_)),
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L(new SymbolicConditionalUnordered(_L_, _B_)),
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E(new SymbolicConditionalUnordered(_E_, _L_, _B_)),
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S(new SymbolicConditionalUnordered(_S_, _L_, _B_)),
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T(new SymbolicConditionalUnordered(_T_, _E_, _L_)),
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X(new SymbolicConditionalUnordered(_X_, _E_));
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//// Conditionals for ASIA example from the tutorial with A and D evidence
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//SymbolicConditionalUnordered::shared_ptr
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// B(new SymbolicConditionalUnordered(_B_)),
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// L(new SymbolicConditionalUnordered(_L_, _B_)),
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// E(new SymbolicConditionalUnordered(_E_, _L_, _B_)),
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// S(new SymbolicConditionalUnordered(_S_, _L_, _B_)),
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// T(new SymbolicConditionalUnordered(_T_, _E_, _L_)),
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// X(new SymbolicConditionalUnordered(_X_, _E_));
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// Cliques
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SymbolicConditionalUnordered::shared_ptr ELB(
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boost::make_shared<SymbolicConditionalUnordered>(
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SymbolicConditionalUnordered::FromKeys(list_of(_E_)(_L_)(_B_), 3)));
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//// Cliques
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//SymbolicConditionalUnordered::shared_ptr ELB(
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// boost::make_shared<SymbolicConditionalUnordered>(
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// SymbolicConditionalUnordered::FromKeys(list_of(_E_)(_L_)(_B_), 3)));
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/* ************************************************************************* */
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// Helper function for below
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// Helper functions for below
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template<typename KEYS>
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SymbolicBayesTreeCliqueUnordered::shared_ptr MakeClique(const KEYS& keys, DenseIndex nrFrontals)
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{
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@ -59,6 +63,21 @@ namespace {
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boost::make_shared<SymbolicConditionalUnordered>(
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SymbolicConditionalUnordered::FromKeys(keys, nrFrontals)));
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}
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template<typename KEYS, typename CHILDREN>
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SymbolicBayesTreeCliqueUnordered::shared_ptr MakeClique(
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const KEYS& keys, DenseIndex nrFrontals, const CHILDREN& children)
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{
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SymbolicBayesTreeCliqueUnordered::shared_ptr clique =
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boost::make_shared<SymbolicBayesTreeCliqueUnordered>(
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boost::make_shared<SymbolicConditionalUnordered>(
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SymbolicConditionalUnordered::FromKeys(keys, nrFrontals)));
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clique->children = children;
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BOOST_FOREACH(const SymbolicBayesTreeCliqueUnordered::shared_ptr& child, children)
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child->parent_ = clique;
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return clique;
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}
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}
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/* ************************************************************************* */
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@ -116,107 +135,100 @@ TEST(SymbolicBayesTree, clear)
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CHECK(assert_equal(expected, bayesTree));
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}
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///* ************************************************************************* *
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//Bayes Tree for testing conversion to a forest of orphans needed for incremental.
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// A,B
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// C|A E|B
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// D|C F|E
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// */
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///* ************************************************************************* */
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//TEST( BayesTree, removePath )
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//{
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// const Index _A_=5, _B_=4, _C_=3, _D_=2, _E_=1, _F_=0;
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// SymbolicConditionalUnordered::shared_ptr
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// A(new SymbolicConditionalUnordered(_A_)),
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// B(new SymbolicConditionalUnordered(_B_, _A_)),
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// C(new SymbolicConditionalUnordered(_C_, _A_)),
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// D(new SymbolicConditionalUnordered(_D_, _C_)),
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// E(new SymbolicConditionalUnordered(_E_, _B_)),
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// F(new SymbolicConditionalUnordered(_F_, _E_));
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// SymbolicBayesTreeUnordered bayesTree;
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// EXPECT(bayesTree.empty());
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//// Ordering ord; ord += _A_,_B_,_C_,_D_,_E_,_F_;
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// SymbolicBayesTreeUnordered::insert(bayesTree, A);
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// SymbolicBayesTreeUnordered::insert(bayesTree, B);
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// SymbolicBayesTreeUnordered::insert(bayesTree, C);
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// SymbolicBayesTreeUnordered::insert(bayesTree, D);
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// SymbolicBayesTreeUnordered::insert(bayesTree, E);
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// SymbolicBayesTreeUnordered::insert(bayesTree, F);
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//
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// // remove C, expected outcome: factor graph with ABC,
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// // Bayes Tree now contains two orphan trees: D|C and E|B,F|E
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// SymbolicFactorGraph expected;
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// expected.push_factor(_B_,_A_);
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//// expected.push_factor(_A_);
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// expected.push_factor(_C_,_A_);
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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// expectedOrphans += bayesTree[_D_], bayesTree[_E_];
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//
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// bayesTree.removePath(bayesTree[_C_], bn, orphans);
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// SymbolicFactorGraph factors(bn);
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// CHECK(assert_equal((SymbolicFactorGraph)expected, factors));
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// CHECK(assert_equal(expectedOrphans, orphans));
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//
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// // remove E: factor graph with EB; E|B removed from second orphan tree
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// SymbolicFactorGraph expected2;
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// expected2.push_factor(_E_,_B_);
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans2;
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// expectedOrphans2 += bayesTree[_F_];
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//
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// BayesNet<SymbolicConditionalUnordered> bn2;
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// SymbolicBayesTreeUnordered::Cliques orphans2;
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// bayesTree.removePath(bayesTree[_E_], bn2, orphans2);
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// SymbolicFactorGraph factors2(bn2);
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// CHECK(assert_equal((SymbolicFactorGraph)expected2, factors2));
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// CHECK(assert_equal(expectedOrphans2, orphans2));
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//}
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//
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///* ************************************************************************* */
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//TEST( BayesTree, removePath2 )
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//{
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// SymbolicBayesTreeUnordered bayesTree = createAsiaSymbolicBayesTree();
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//
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// // Call remove-path with clique B
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// bayesTree.removePath(bayesTree[_B_], bn, orphans);
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// SymbolicFactorGraph factors(bn);
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//
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// // Check expected outcome
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// SymbolicFactorGraph expected;
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// expected.push_factor(_E_,_L_,_B_);
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//// expected.push_factor(_L_,_B_);
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//// expected.push_factor(_B_);
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// CHECK(assert_equal(expected, factors));
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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// expectedOrphans += bayesTree[_S_], bayesTree[_T_], bayesTree[_X_];
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// CHECK(assert_equal(expectedOrphans, orphans));
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//}
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//
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///* ************************************************************************* */
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//TEST( BayesTree, removePath3 )
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//{
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// SymbolicBayesTreeUnordered bayesTree = createAsiaSymbolicBayesTree();
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//
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// // Call remove-path with clique S
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// bayesTree.removePath(bayesTree[_S_], bn, orphans);
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// SymbolicFactorGraph factors(bn);
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//
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// // Check expected outcome
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// SymbolicFactorGraph expected;
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// expected.push_factor(_E_,_L_,_B_);
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//// expected.push_factor(_L_,_B_);
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//// expected.push_factor(_B_);
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// expected.push_factor(_S_,_L_,_B_);
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// CHECK(assert_equal(expected, factors));
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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// expectedOrphans += bayesTree[_T_], bayesTree[_X_];
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// CHECK(assert_equal(expectedOrphans, orphans));
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//}
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/* ************************************************************************* *
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Bayes Tree for testing conversion to a forest of orphans needed for incremental.
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A,B
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C|A E|B
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D|C F|E
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*/
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/* ************************************************************************* */
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TEST( BayesTree, removePath )
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{
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const Key _A_=A(0), _B_=B(0), _C_=C(0), _D_=D(0), _E_=E(0), _F_=F(0);
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SymbolicBayesTreeUnordered bayesTreeOrig;
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bayesTreeOrig.insertRoot(
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MakeClique(list_of(_A_)(_B_), 2, list_of
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(MakeClique(list_of(_C_)(_A_), 1, list_of
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(MakeClique(list_of(_D_)(_C_), 1))))
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(MakeClique(list_of(_E_)(_B_), 1, list_of
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(MakeClique(list_of(_F_)(_E_), 1))))));
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SymbolicBayesTreeUnordered bayesTree = bayesTreeOrig;
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// remove C, expected outcome: factor graph with ABC,
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// Bayes Tree now contains two orphan trees: D|C and E|B,F|E
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SymbolicFactorGraphUnordered expected;
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expected += SymbolicFactorUnordered(_A_,_B_);
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expected += SymbolicFactorUnordered(_C_,_A_);
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SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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expectedOrphans += bayesTree[_D_], bayesTree[_E_];
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SymbolicBayesNetUnordered bn;
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SymbolicBayesTreeUnordered::Cliques orphans;
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bayesTree.removePath(bayesTree[_C_], bn, orphans);
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SymbolicFactorGraphUnordered factors(bn);
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CHECK(assert_equal(expected, factors));
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CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
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bayesTree = bayesTreeOrig;
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// remove E: factor graph with EB; E|B removed from second orphan tree
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SymbolicFactorGraphUnordered expected2;
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expected2 += SymbolicFactorUnordered(_A_,_B_);
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expected2 += SymbolicFactorUnordered(_E_,_B_);
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SymbolicBayesTreeUnordered::Cliques expectedOrphans2;
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expectedOrphans2 += bayesTree[_F_];
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expectedOrphans2 += bayesTree[_C_];
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SymbolicBayesNetUnordered bn2;
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SymbolicBayesTreeUnordered::Cliques orphans2;
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bayesTree.removePath(bayesTree[_E_], bn2, orphans2);
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SymbolicFactorGraphUnordered factors2(bn2);
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CHECK(assert_equal(expected2, factors2));
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CHECK(assert_container_equal(expectedOrphans2|indirected, orphans2|indirected));
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}
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/* ************************************************************************* */
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TEST( BayesTree, removePath2 )
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{
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SymbolicBayesTreeUnordered bayesTree = asiaBayesTree;
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// Call remove-path with clique B
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SymbolicBayesNetUnordered bn;
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SymbolicBayesTreeUnordered::Cliques orphans;
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bayesTree.removePath(bayesTree[_B_], bn, orphans);
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SymbolicFactorGraphUnordered factors(bn);
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// Check expected outcome
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SymbolicFactorGraphUnordered expected;
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expected += SymbolicFactorUnordered(_B_,_L_,_E_,_S_);
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CHECK(assert_equal(expected, factors));
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SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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expectedOrphans += bayesTree[_T_], bayesTree[_X_];
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CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
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}
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/* ************************************************************************* */
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TEST( BayesTree, removePath3 )
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{
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SymbolicBayesTreeUnordered bayesTree = asiaBayesTree;
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// Call remove-path with clique S
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SymbolicBayesNetUnordered bn;
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SymbolicBayesTreeUnordered::Cliques orphans;
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bayesTree.removePath(bayesTree[_T_], bn, orphans);
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SymbolicFactorGraphUnordered factors(bn);
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// Check expected outcome
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SymbolicFactorGraphUnordered expected;
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expected += SymbolicFactorUnordered(_B_,_L_,_E_,_S_);
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expected += SymbolicFactorUnordered(_T_,_E_,_L_);
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CHECK(assert_equal(expected, factors));
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SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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expectedOrphans += bayesTree[_X_];
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CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
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}
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void getAllCliques(const SymbolicBayesTreeUnordered::sharedClique& subtree, SymbolicBayesTreeUnordered::Cliques& cliques) {
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// Check if subtree exists
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@ -278,104 +290,106 @@ TEST( BayesTree, shortcutCheck )
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// }
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}
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///* ************************************************************************* */
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//TEST( BayesTree, removeTop )
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//{
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// SymbolicBayesTreeUnordered bayesTree = createAsiaSymbolicBayesTree();
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//
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// // create a new factor to be inserted
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// boost::shared_ptr<IndexFactor> newFactor(new IndexFactor(_S_,_B_));
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//
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// // Remove the contaminated part of the Bayes tree
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// list<Index> keys; keys += _B_,_S_;
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// bayesTree.removeTop(keys, bn, orphans);
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// SymbolicFactorGraph factors(bn);
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//
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// // Check expected outcome
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// SymbolicFactorGraph expected;
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// expected.push_factor(_E_,_L_,_B_);
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//// expected.push_factor(_L_,_B_);
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//// expected.push_factor(_B_);
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// expected.push_factor(_S_,_L_,_B_);
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// CHECK(assert_equal(expected, factors));
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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// expectedOrphans += bayesTree[_T_], bayesTree[_X_];
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// CHECK(assert_equal(expectedOrphans, orphans));
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//
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// // Try removeTop again with a factor that should not change a thing
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// boost::shared_ptr<IndexFactor> newFactor2(new IndexFactor(_B_));
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// BayesNet<SymbolicConditionalUnordered> bn2;
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// SymbolicBayesTreeUnordered::Cliques orphans2;
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// keys.clear(); keys += _B_;
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// bayesTree.removeTop(keys, bn2, orphans2);
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// SymbolicFactorGraph factors2(bn2);
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// SymbolicFactorGraph expected2;
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// CHECK(assert_equal(expected2, factors2));
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans2;
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// CHECK(assert_equal(expectedOrphans2, orphans2));
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//}
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//
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///* ************************************************************************* */
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//TEST( BayesTree, removeTop2 )
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//{
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// SymbolicBayesTreeUnordered bayesTree = createAsiaSymbolicBayesTree();
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//
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// // create two factors to be inserted
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// SymbolicFactorGraph newFactors;
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// newFactors.push_factor(_B_);
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// newFactors.push_factor(_S_);
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//
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// // Remove the contaminated part of the Bayes tree
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// list<Index> keys; keys += _B_,_S_;
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// bayesTree.removeTop(keys, bn, orphans);
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// SymbolicFactorGraph factors(bn);
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//
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// // Check expected outcome
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// SymbolicFactorGraph expected;
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// expected.push_factor(_E_,_L_,_B_);
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//// expected.push_factor(_L_,_B_);
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//// expected.push_factor(_B_);
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// expected.push_factor(_S_,_L_,_B_);
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// CHECK(assert_equal(expected, factors));
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// SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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// expectedOrphans += bayesTree[_T_], bayesTree[_X_];
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// CHECK(assert_equal(expectedOrphans, orphans));
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//}
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//
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///* ************************************************************************* */
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//TEST( BayesTree, removeTop3 )
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//{
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// const Index _x4_=5, _l5_=6;
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// // simple test case that failed after COLAMD was fixed/activated
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// SymbolicConditionalUnordered::shared_ptr
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// X(new SymbolicConditionalUnordered(_l5_)),
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// A(new SymbolicConditionalUnordered(_x4_, _l5_)),
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// B(new SymbolicConditionalUnordered(_x2_, _x4_)),
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// C(new SymbolicConditionalUnordered(_x3_, _x2_));
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//
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//// Ordering newOrdering;
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//// newOrdering += _x3_, _x2_, _x1_, _l2_, _l1_, _x4_, _l5_;
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// SymbolicBayesTreeUnordered bayesTree;
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// SymbolicBayesTreeUnordered::insert(bayesTree, X);
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// SymbolicBayesTreeUnordered::insert(bayesTree, A);
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// SymbolicBayesTreeUnordered::insert(bayesTree, B);
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// SymbolicBayesTreeUnordered::insert(bayesTree, C);
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//
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// // remove all
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// list<Index> keys;
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// keys += _l5_, _x2_, _x3_, _x4_;
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// BayesNet<SymbolicConditionalUnordered> bn;
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// SymbolicBayesTreeUnordered::Cliques orphans;
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// bayesTree.removeTop(keys, bn, orphans);
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// SymbolicFactorGraph factors(bn);
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//
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// CHECK(orphans.size() == 0);
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//}
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//
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/* ************************************************************************* */
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TEST( BayesTree, removeTop )
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{
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SymbolicBayesTreeUnordered bayesTree = asiaBayesTree;
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bayesTree.print("asiaBayesTree: ");
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// create a new factor to be inserted
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//boost::shared_ptr<IndexFactor> newFactor(new IndexFactor(_S_,_B_));
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// Remove the contaminated part of the Bayes tree
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SymbolicBayesNetUnordered bn;
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SymbolicBayesTreeUnordered::Cliques orphans;
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list<Key> keys; keys += _B_,_S_;
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bayesTree.removeTop(keys, bn, orphans);
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SymbolicFactorGraphUnordered factors(bn);
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// Check expected outcome
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SymbolicFactorGraphUnordered expected;
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expected.push_factor(_E_,_L_,_B_);
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// expected.push_factor(_L_,_B_);
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// expected.push_factor(_B_);
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expected.push_factor(_S_,_L_,_B_);
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CHECK(assert_equal(expected, factors));
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SymbolicBayesTreeUnordered::Cliques expectedOrphans;
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expectedOrphans += bayesTree[_T_], bayesTree[_X_];
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CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
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// Try removeTop again with a factor that should not change a thing
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//boost::shared_ptr<IndexFactor> newFactor2(new IndexFactor(_B_));
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SymbolicBayesNetUnordered bn2;
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SymbolicBayesTreeUnordered::Cliques orphans2;
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keys.clear(); keys += _B_;
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bayesTree.removeTop(keys, bn2, orphans2);
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SymbolicFactorGraphUnordered factors2(bn2);
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SymbolicFactorGraphUnordered expected2;
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CHECK(assert_equal(expected2, factors2));
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SymbolicBayesTreeUnordered::Cliques expectedOrphans2;
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CHECK(assert_container_equal(expectedOrphans2|indirected, orphans2|indirected));
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}
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||||
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||||
/* ************************************************************************* */
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TEST( BayesTree, removeTop2 )
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{
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||||
SymbolicBayesTreeUnordered bayesTree = asiaBayesTree;
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// create two factors to be inserted
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||||
//SymbolicFactorGraph newFactors;
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//newFactors.push_factor(_B_);
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//newFactors.push_factor(_S_);
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||||
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||||
// Remove the contaminated part of the Bayes tree
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||||
SymbolicBayesNetUnordered bn;
|
||||
SymbolicBayesTreeUnordered::Cliques orphans;
|
||||
list<Key> keys; keys += _B_,_S_;
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||||
bayesTree.removeTop(keys, bn, orphans);
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||||
SymbolicFactorGraphUnordered factors(bn);
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||||
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// Check expected outcome
|
||||
SymbolicFactorGraphUnordered expected;
|
||||
expected.push_factor(_E_,_L_,_B_);
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||||
// expected.push_factor(_L_,_B_);
|
||||
// expected.push_factor(_B_);
|
||||
expected.push_factor(_S_,_L_,_B_);
|
||||
CHECK(assert_equal(expected, factors));
|
||||
SymbolicBayesTreeUnordered::Cliques expectedOrphans;
|
||||
expectedOrphans += bayesTree[_T_], bayesTree[_X_];
|
||||
CHECK(assert_container_equal(expectedOrphans|indirected, orphans|indirected));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( BayesTree, removeTop3 )
|
||||
{
|
||||
const Key _x4_=5, _l5_=6;
|
||||
// simple test case that failed after COLAMD was fixed/activated
|
||||
SymbolicConditionalUnordered::shared_ptr
|
||||
X(new SymbolicConditionalUnordered(_l5_)),
|
||||
A(new SymbolicConditionalUnordered(_x4_, _l5_)),
|
||||
B(new SymbolicConditionalUnordered(_x2_, _x4_)),
|
||||
C(new SymbolicConditionalUnordered(_x3_, _x2_));
|
||||
|
||||
// Ordering newOrdering;
|
||||
// newOrdering += _x3_, _x2_, _x1_, _l2_, _l1_, _x4_, _l5_;
|
||||
SymbolicBayesTreeUnordered bayesTree;
|
||||
SymbolicBayesTreeUnordered::insert(bayesTree, X);
|
||||
SymbolicBayesTreeUnordered::insert(bayesTree, A);
|
||||
SymbolicBayesTreeUnordered::insert(bayesTree, B);
|
||||
SymbolicBayesTreeUnordered::insert(bayesTree, C);
|
||||
|
||||
// remove all
|
||||
list<Index> keys;
|
||||
keys += _l5_, _x2_, _x3_, _x4_;
|
||||
BayesNet<SymbolicConditionalUnordered> bn;
|
||||
SymbolicBayesTreeUnordered::Cliques orphans;
|
||||
bayesTree.removeTop(keys, bn, orphans);
|
||||
SymbolicFactorGraph factors(bn);
|
||||
|
||||
CHECK(orphans.size() == 0);
|
||||
}
|
||||
|
||||
/////* ************************************************************************* */
|
||||
/////**
|
||||
//// * x2 - x3 - x4 - x5
|
||||
|
|
@ -457,8 +471,6 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
|
|||
bayesNet.push_back(boost::make_shared<SymbolicConditionalUnordered>(1, 8, 12));
|
||||
bayesNet.push_back(boost::make_shared<SymbolicConditionalUnordered>(0, 8, 12));
|
||||
|
||||
bayesNet.print("bayesNet: ");
|
||||
|
||||
if (debug) {
|
||||
GTSAM_PRINT(bayesNet);
|
||||
bayesNet.saveGraph("/tmp/symbolicBayesNet.dot");
|
||||
|
|
@ -467,7 +479,6 @@ TEST( SymbolicBayesTreeUnordered, thinTree ) {
|
|||
// create a BayesTree out of a Bayes net
|
||||
OrderingUnordered ordering(bayesNet.keys());
|
||||
SymbolicBayesTreeUnordered bayesTree = *SymbolicFactorGraphUnordered(bayesNet).eliminateMultifrontal(ordering);
|
||||
bayesTree.print("bayesTree: ");
|
||||
if (debug) {
|
||||
GTSAM_PRINT(bayesTree);
|
||||
bayesTree.saveGraph("/tmp/SymbolicBayesTreeUnordered.dot");
|
||||
|
|
@ -676,8 +687,6 @@ TEST(SymbolicBayesTreeUnordered, complicatedMarginal)
|
|||
bt.saveGraph("/tmp/SymbolicBayesTreeUnordered.dot");
|
||||
}
|
||||
|
||||
bt.print("bt: ");
|
||||
|
||||
// Shortcut on 9
|
||||
{
|
||||
SymbolicBayesTreeUnordered::Clique::shared_ptr c = bt[9];
|
||||
|
|
|
|||
Loading…
Reference in New Issue