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Remove printing, add one more test

release/4.3a0
Frank Dellaert 2024-09-30 16:52:41 -07:00
parent 20e5664928
commit a709a2d750
1 changed files with 6 additions and 11 deletions
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17
gtsam/hybrid/tests/testHybridBayesNet.cpp
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@ -168,8 +168,6 @@ TEST(HybridBayesNet, Tiny) {
const double error1 = chosen1.error(vv) + gc1->negLogConstant() - const double error1 = chosen1.error(vv) + gc1->negLogConstant() -
px->negLogConstant() - log(0.6); px->negLogConstant() - log(0.6);
// print errors: // print errors:
std::cout << "error0 = " << error0 << std::endl;
std::cout << "error1 = " << error1 << std::endl;
EXPECT_DOUBLES_EQUAL(error0, bayesNet.error(zero), 1e-9); EXPECT_DOUBLES_EQUAL(error0, bayesNet.error(zero), 1e-9);
EXPECT_DOUBLES_EQUAL(error1, bayesNet.error(one), 1e-9); EXPECT_DOUBLES_EQUAL(error1, bayesNet.error(one), 1e-9);
EXPECT_DOUBLES_EQUAL(error0 + logP0, error1 + logP1, 1e-9); EXPECT_DOUBLES_EQUAL(error0 + logP0, error1 + logP1, 1e-9);
@ -196,16 +194,13 @@ TEST(HybridBayesNet, Tiny) {
ratio[1] = std::exp(-fg.error(one)) / bayesNet.evaluate(one); ratio[1] = std::exp(-fg.error(one)) / bayesNet.evaluate(one);
EXPECT_DOUBLES_EQUAL(ratio[0], ratio[1], 1e-8); EXPECT_DOUBLES_EQUAL(ratio[0], ratio[1], 1e-8);
// TODO(Frank): Better test: check if discretePosteriors agree ! // Better and more general test:
// Since ϕ(M, x) \propto P(M,x|z) // Since ϕ(M, x) \propto P(M,x|z) the discretePosteriors should agree
// q0 = std::exp(-fg.error(zero)); q0 = std::exp(-fg.error(zero));
// q1 = std::exp(-fg.error(one)); q1 = std::exp(-fg.error(one));
// sum = q0 + q1; sum = q0 + q1;
// AlgebraicDecisionTree<Key> fgPosterior(M(0), q0 / sum, q1 / sum); EXPECT(assert_equal(expectedPosterior, {M(0), q0 / sum, q1 / sum}));
VectorValues xv{{X(0), Vector1(5.0)}}; VectorValues xv{{X(0), Vector1(5.0)}};
fg.printErrors(zero);
fg.printErrors(one);
GTSAM_PRINT(fg.errorTree(xv));
auto fgPosterior = fg.discretePosterior(xv); auto fgPosterior = fg.discretePosterior(xv);
EXPECT(assert_equal(expectedPosterior, fgPosterior)); EXPECT(assert_equal(expectedPosterior, fgPosterior));
} }