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Some more refactoring of marginals

release/4.3a0
Frank dellaert 2020-07-12 16:04:01 -04:00
parent ec69c7a2a9
commit 8666a15f2e
1 changed files with 32 additions and 26 deletions
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58
gtsam/discrete/tests/testDiscreteBayesTree.cpp
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@ -110,16 +110,22 @@ TEST_UNSAFE(DiscreteBayesTree, ThinTree) {
double px = bayesTree->evaluate(x);
for (size_t i = 0; i < 15; i++)
if (x[i]) marginals[i] += px;
if (x[12] && x[14]) joint_12_14 += px;
if (x[9] && x[12] && x[14]) joint_9_12_14 += px;
if (x[8] && x[12] && x[14]) joint_8_12_14 += px;
if (x[12] && x[14]) {
joint_12_14 += px;
if (x[9]) joint_9_12_14 += px;
if (x[8]) joint_8_12_14 += px;
}
if (x[8] && x[12]) joint_8_12 += px;
if (x[8] && x[2]) joint82 += px;
if (x[1] && x[2]) joint12 += px;
if (x[2] && x[4]) joint24 += px;
if (x[4] && x[5]) joint45 += px;
if (x[4] && x[6]) joint46 += px;
if (x[4] && x[11]) joint_4_11 += px;
if (x[2]) {
if (x[8]) joint82 += px;
if (x[1]) joint12 += px;
}
if (x[4]) {
if (x[2]) joint24 += px;
if (x[5]) joint45 += px;
if (x[6]) joint46 += px;
if (x[11]) joint_4_11 += px;
}
if (x[11] && x[13]) {
joint_11_13 += px;
if (x[8] && x[12]) joint_8_11_12_13 += px;
@ -135,50 +141,50 @@ TEST_UNSAFE(DiscreteBayesTree, ThinTree) {
DiscreteFactor::Values all1 = allPosbValues.back();
// check separator marginal P(S0)
auto c = (*bayesTree)[0];
auto clique = (*bayesTree)[0];
DiscreteFactorGraph separatorMarginal0 =
c->separatorMarginal(EliminateDiscrete);
clique->separatorMarginal(EliminateDiscrete);
DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
// check separator marginal P(S9), should be P(14)
c = (*bayesTree)[9];
clique = (*bayesTree)[9];
DiscreteFactorGraph separatorMarginal9 =
c->separatorMarginal(EliminateDiscrete);
clique->separatorMarginal(EliminateDiscrete);
DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9);
// check separator marginal of root, should be empty
c = (*bayesTree)[11];
clique = (*bayesTree)[11];
DiscreteFactorGraph separatorMarginal11 =
c->separatorMarginal(EliminateDiscrete);
clique->separatorMarginal(EliminateDiscrete);
LONGS_EQUAL(0, separatorMarginal11.size());
// check shortcut P(S9||R) to root
c = (*bayesTree)[9];
DiscreteBayesNet shortcut = c->shortcut(R, EliminateDiscrete);
clique = (*bayesTree)[9];
DiscreteBayesNet shortcut = clique->shortcut(R, EliminateDiscrete);
LONGS_EQUAL(1, shortcut.size());
DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// check shortcut P(S8||R) to root
c = (*bayesTree)[8];
shortcut = c->shortcut(R, EliminateDiscrete);
clique = (*bayesTree)[8];
shortcut = clique->shortcut(R, EliminateDiscrete);
DOUBLES_EQUAL(joint_11_12_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// check shortcut P(S2||R) to root
c = (*bayesTree)[2];
shortcut = c->shortcut(R, EliminateDiscrete);
clique = (*bayesTree)[2];
shortcut = clique->shortcut(R, EliminateDiscrete);
DOUBLES_EQUAL(joint_9_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// check shortcut P(S0||R) to root
c = (*bayesTree)[0];
shortcut = c->shortcut(R, EliminateDiscrete);
clique = (*bayesTree)[0];
shortcut = clique->shortcut(R, EliminateDiscrete);
DOUBLES_EQUAL(joint_8_11_12_13 / joint_11_13, shortcut.evaluate(all1), 1e-9);
// calculate all shortcuts to root
DiscreteBayesTree::Nodes cliques = bayesTree->nodes();
for (auto c : cliques) {
DiscreteBayesNet shortcut = c.second->shortcut(R, EliminateDiscrete);
for (auto clique : cliques) {
DiscreteBayesNet shortcut = clique.second->shortcut(R, EliminateDiscrete);
if (debug) {
c.second->conditional_->printSignature();
clique.second->conditional_->printSignature();
shortcut.print("shortcut:");
}
}