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Make HybridBayesTree testable and add serialization

release/4.3a0
Varun Agrawal 2022-09-01 00:04:19 -04:00
parent 8692ae63ea
commit b16b05ea2c
2 changed files with 27 additions and 0 deletions
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12
gtsam/hybrid/HybridBayesTree.h
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@ -89,8 +89,20 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
VectorValues optimize(const DiscreteValues& assignment) const;
/// @}
private:
/** Serialization function */
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
}
};
/// traits
template <>
struct traits<HybridBayesTree> : public Testable<HybridBayesTree> {};
/**
* @brief Class for Hybrid Bayes tree orphan subtrees.
*

15
gtsam/hybrid/tests/testHybridBayesTree.cpp
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@ -16,6 +16,7 @@
* @date August 2022
*/
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/hybrid/HybridGaussianISAM.h>
@ -143,6 +144,20 @@ TEST(HybridBayesTree, Optimize) {
EXPECT(assert_equal(expectedValues, delta.continuous()));
}
/* ****************************************************************************/
// Test HybridBayesTree serialization.
TEST(HybridBayesTree, Serialization) {
Switching s(4);
Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
HybridBayesTree hbt =
*(s.linearizedFactorGraph.eliminateMultifrontal(ordering));
using namespace gtsam::serializationTestHelpers;
EXPECT(equalsObj<HybridBayesTree>(hbt));
EXPECT(equalsXML<HybridBayesTree>(hbt));
EXPECT(equalsBinary<HybridBayesTree>(hbt));
}
/* ************************************************************************* */
int main() {
TestResult tr;