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While watching TV :-) added some constructors for more readable tests.

release/4.3a0
Frank Dellaert 2009-11-21 04:59:50 +00:00
parent a0a250750b
commit b113194e58
4 changed files with 71 additions and 83 deletions
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26
cpp/SymbolicFactor.h
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@ -29,18 +29,32 @@ namespace gtsam {
typedef boost::shared_ptr<SymbolicFactor> shared_ptr;
/**
* Construct from SymbolicConditional
*/
/** Construct from SymbolicConditional */
SymbolicFactor(const boost::shared_ptr<SymbolicConditional>& c);
/**
* Constructor from a list of keys
*/
/** Constructor from a list of keys */
SymbolicFactor(std::list<std::string> keys) :
keys_(keys) {
}
/** Construct unary factor */
SymbolicFactor(const std::string& key) {
keys_.push_back(key);
}
/** Construct binary factor */
SymbolicFactor(const std::string& key1, const std::string& key2) {
keys_.push_back(key1);
keys_.push_back(key2);
}
/** Construct ternary factor */
SymbolicFactor(const std::string& key1, const std::string& key2, const std::string& key3) {
keys_.push_back(key1);
keys_.push_back(key2);
keys_.push_back(key3);
}
/**
* Constructor that combines a set of factors
* @param factors Set of factors to combine

23
cpp/SymbolicFactorGraph.h
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@ -22,10 +22,25 @@ namespace gtsam {
class SymbolicFactorGraph: public FactorGraph<SymbolicFactor> {
public:
/**
* Construct empty factor graph
*/
SymbolicFactorGraph() {
/** Construct empty factor graph */
SymbolicFactorGraph() {}
/** Push back unary factor */
void push_factor(const std::string& key) {
boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key));
push_back(factor);
}
/** Push back binary factor */
void push_factor(const std::string& key1, const std::string& key2) {
boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2));
push_back(factor);
}
/** Push back ternary factor */
void push_factor(const std::string& key1, const std::string& key2, const std::string& key3) {
boost::shared_ptr<SymbolicFactor> factor(new SymbolicFactor(key1,key2,key3));
push_back(factor);
}
/**

32
cpp/testBayesTree.cpp
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@ -73,7 +73,6 @@ TEST( BayesTree, constructor )
ASIA.push_back(L);
ASIA.push_back(B);
SymbolicBayesTree bayesTree2(ASIA);
//bayesTree2.print("bayesTree2");
// Check whether the same
CHECK(assert_equal(bayesTree,bayesTree2));
@ -304,14 +303,15 @@ TEST( BayesTree, balanced_smoother_joint )
}
/* ************************************************************************* *
Bayes Tree, for testing conversion to a forest of orphans needed for incremental.
Bayes Tree for testing conversion to a forest of orphans needed for incremental.
A,B
C|A E|B
D|C F|E
/* ************************************************************************* */
TEST( BayesTree, removePath )
{
SymbolicConditional::shared_ptr A(new SymbolicConditional("A")),
SymbolicConditional::shared_ptr
A(new SymbolicConditional("A")),
B(new SymbolicConditional("B", "A")),
C(new SymbolicConditional("C", "A")),
D(new SymbolicConditional("D", "C")),
@ -325,34 +325,26 @@ TEST( BayesTree, removePath )
bayesTree.insert(E);
bayesTree.insert(F);
// remove C, expected outcome: factor graph with ABC, Bayes Tree now contains two orphan trees: D|C and E|B,F|E
// remove C, expected outcome: factor graph with ABC,
// Bayes Tree now contains two orphan trees: D|C and E|B,F|E
SymbolicFactorGraph expected;
list<string> keys;
keys += "A","C";
boost::shared_ptr<SymbolicFactor> _CA(new SymbolicFactor(keys));
expected.push_back(_CA);
keys.clear();
keys += "A","B";
boost::shared_ptr<SymbolicFactor> _BA(new SymbolicFactor(keys));
expected.push_back(_BA);
keys.clear();
keys += "A";
boost::shared_ptr<SymbolicFactor> _A(new SymbolicFactor(keys));
expected.push_back(_A);
expected.push_factor("A","C");
expected.push_factor("A","B");
expected.push_factor("A");
SymbolicFactorGraph actual = bayesTree.removePath<SymbolicFactor>("C");
CHECK(assert_equal(expected, actual));
// remove A, nothing should happen (already removed)
SymbolicFactorGraph expected2; // empty factor
actual = bayesTree.removePath<SymbolicFactor>("A");
// CHECK(assert_equal(expected2, actual));
// remove E: factor graph with EB; E|B removed from second orphan tree
SymbolicFactorGraph expected3;
keys.clear();
keys += "C","A";
boost::shared_ptr<SymbolicFactor> CA(new SymbolicFactor(keys));
expected3.push_back(CA);
expected3.push_factor("C","A");
actual = bayesTree.removePath<SymbolicFactor>("E");
// CHECK(assert_equal(expected3, actual));
}

73
cpp/testSymbolicFactorGraph.cpp
View File

@ -23,24 +23,12 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
{
// construct expected symbolic graph
SymbolicFactorGraph expected;
expected.push_factor("x1");
expected.push_factor("x1","x2");
expected.push_factor("l1","x1");
expected.push_factor("l1","x2");
list<string> f1_keys; f1_keys += "x1";
SymbolicFactor::shared_ptr f1(new SymbolicFactor(f1_keys));
expected.push_back(f1);
list<string> f2_keys; f2_keys.push_back("x1"); f2_keys.push_back("x2");
SymbolicFactor::shared_ptr f2(new SymbolicFactor(f2_keys));
expected.push_back(f2);
list<string> f3_keys; f3_keys.push_back("l1"); f3_keys.push_back("x1");
SymbolicFactor::shared_ptr f3(new SymbolicFactor(f3_keys));
expected.push_back(f3);
list<string> f4_keys; f4_keys.push_back("l1"); f4_keys.push_back("x2");
SymbolicFactor::shared_ptr f4(new SymbolicFactor(f4_keys));
expected.push_back(f4);
// construct it from the factor graph graph
// construct it from the factor graph
GaussianFactorGraph factorGraph = createGaussianFactorGraph();
SymbolicFactorGraph actual(factorGraph);
@ -97,10 +85,8 @@ TEST( SymbolicFactorGraph, removeAndCombineFactors )
// combine all factors connected to x1
SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,"x1");
list<string> keys; keys.push_back("l1"); keys.push_back("x1"); keys.push_back("x2");
SymbolicFactor expected(keys);
// check if the two factors are the same
// check result
SymbolicFactor expected("l1","x1","x2");
CHECK(assert_equal(expected,*actual));
}
@ -149,20 +135,10 @@ TEST( GaussianFactorGraph, eliminate )
TEST( SymbolicFactorGraph, constructFromBayesNet )
{
// create expected factor graph
FactorGraph<SymbolicFactor> expected;
list<string> f1_keys; f1_keys += "l1","x1","x2";
SymbolicFactor::shared_ptr f1(new SymbolicFactor(f1_keys));
expected.push_back(f1);
list<string> f2_keys; f2_keys += "x1","l1";
SymbolicFactor::shared_ptr f2(new SymbolicFactor(f2_keys));
expected.push_back(f2);
list<string> f3_keys; f3_keys += "x1";
SymbolicFactor::shared_ptr f3(new SymbolicFactor(f3_keys));
expected.push_back(f3);
SymbolicFactorGraph expected;
expected.push_factor("l1","x1","x2");
expected.push_factor("x1","l1");
expected.push_factor("x1");
// create Bayes Net
SymbolicConditional::shared_ptr x2(new SymbolicConditional("x2", "l1", "x1"));
@ -177,7 +153,7 @@ TEST( SymbolicFactorGraph, constructFromBayesNet )
// create actual factor graph from a Bayes Net
FactorGraph<SymbolicFactor> actual(bayesNet);
CHECK(assert_equal(expected,actual));
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected,actual));
}
/* ************************************************************************* */
@ -186,25 +162,16 @@ TEST( SymbolicFactorGraph, push_back )
// Create two factor graphs and expected combined graph
SymbolicFactorGraph fg1, fg2, expected;
list<string> f1_keys; f1_keys += "x1";
SymbolicFactor::shared_ptr f1(new SymbolicFactor(f1_keys));
fg1.push_back(f1);
expected.push_back(f1);
fg1.push_factor("x1");
fg1.push_factor("x1","x2");
list<string> f2_keys; f2_keys.push_back("x1"); f2_keys.push_back("x2");
SymbolicFactor::shared_ptr f2(new SymbolicFactor(f2_keys));
fg1.push_back(f2);
expected.push_back(f2);
fg2.push_factor("l1","x1");
fg2.push_factor("l1","x2");
list<string> f3_keys; f3_keys.push_back("l1"); f3_keys.push_back("x1");
SymbolicFactor::shared_ptr f3(new SymbolicFactor(f3_keys));
fg2.push_back(f3);
expected.push_back(f3);
list<string> f4_keys; f4_keys.push_back("l1"); f4_keys.push_back("x2");
SymbolicFactor::shared_ptr f4(new SymbolicFactor(f4_keys));
fg2.push_back(f4);
expected.push_back(f4);
expected.push_factor("x1");
expected.push_factor("x1","x2");
expected.push_factor("l1","x1");
expected.push_factor("l1","x2");
// combine
SymbolicFactorGraph actual = combine(fg1,fg2);