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New test on marginal

release/4.3a0
Frank Dellaert 2022-01-22 11:59:48 -05:00
parent 241906d2c9
commit 94c692ddd1
1 changed files with 22 additions and 6 deletions
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28
gtsam/discrete/tests/testDiscreteConditional.cpp
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@ -191,20 +191,36 @@ TEST(DiscreteConditional, marginals) {
DiscreteConditional prior(B % "1/2"); DiscreteConditional prior(B % "1/2");
DiscreteConditional pAB = prior * conditional; DiscreteConditional pAB = prior * conditional;
// P(A=0) = P(A=0|B=0)P(B=0) + P(A=0|B=1)P(B=1) = 1*1 + 2*2 = 5
// P(A=1) = P(A=1|B=0)P(B=0) + P(A=1|B=1)P(B=1) = 2*1 + 1*2 = 4
DiscreteConditional actualA = pAB.marginal(A.first); DiscreteConditional actualA = pAB.marginal(A.first);
DiscreteConditional pA(A % "5/4"); DiscreteConditional pA(A % "5/4");
EXPECT(assert_equal(pA, actualA)); EXPECT(assert_equal(pA, actualA));
EXPECT_LONGS_EQUAL(1, actualA.nrFrontals()); EXPECT(actualA.frontals() == KeyVector{1});
EXPECT_LONGS_EQUAL(0, actualA.nrParents()); EXPECT_LONGS_EQUAL(0, actualA.nrParents());
KeyVector frontalsA(actualA.beginFrontals(), actualA.endFrontals());
EXPECT((frontalsA == KeyVector{1}));
DiscreteConditional actualB = pAB.marginal(B.first); DiscreteConditional actualB = pAB.marginal(B.first);
EXPECT(assert_equal(prior, actualB)); EXPECT(assert_equal(prior, actualB));
EXPECT_LONGS_EQUAL(1, actualB.nrFrontals()); EXPECT(actualB.frontals() == KeyVector{0});
EXPECT_LONGS_EQUAL(0, actualB.nrParents()); EXPECT_LONGS_EQUAL(0, actualB.nrParents());
KeyVector frontalsB(actualB.beginFrontals(), actualB.endFrontals()); }
EXPECT((frontalsB == KeyVector{0}));
/* ************************************************************************* */
// Check calculation of marginals in case branches are pruned
TEST(DiscreteConditional, marginals2) {
DiscreteKey A(0, 2), B(1, 2); // changing keys need to make pruning happen!
DiscreteConditional conditional(A | B = "2/2 3/1");
DiscreteConditional prior(B % "1/2");
DiscreteConditional pAB = prior * conditional;
GTSAM_PRINT(pAB);
// P(A=0) = P(A=0|B=0)P(B=0) + P(A=0|B=1)P(B=1) = 2*1 + 3*2 = 8
// P(A=1) = P(A=1|B=0)P(B=0) + P(A=1|B=1)P(B=1) = 2*1 + 1*2 = 4
DiscreteConditional actualA = pAB.marginal(A.first);
DiscreteConditional pA(A % "8/4");
EXPECT(assert_equal(pA, actualA));
DiscreteConditional actualB = pAB.marginal(B.first);
EXPECT(assert_equal(prior, actualB));
} }
/* ************************************************************************* */ /* ************************************************************************* */