New DiscreteBayesTree tests

gtsam/discrete/tests/testDiscreteBayesTree.cpp

@@ -369,6 +369,41 @@ TEST(DiscreteBayesTree, Lookup) {
   EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
 }
 
+/* ************************************************************************* */
+// Test creating a Bayes tree directly from cliques
+TEST(DiscreteBayesTree, DirectFromCliques) {
+  // Create a BayesNet
+  DiscreteBayesNet bayesNet;
+  DiscreteKey key0(0, 2), key1(1, 2), key2(2, 2);
+  bayesNet.add(key0 % "1/3");
+  bayesNet.add(key1 | key0 = "1/3 3/1");
+  bayesNet.add(key2 | key1 = "3/1 3/1");
+
+  // Create cliques directly
+  auto clique2 = std::make_shared<DiscreteBayesTree::Clique>(
+      std::make_shared<DiscreteConditional>(key2 | key1 = "3/1 3/1"));
+  auto clique1 = std::make_shared<DiscreteBayesTree::Clique>(
+      std::make_shared<DiscreteConditional>(key1 | key0 = "1/3 3/1"));
+  auto clique0 = std::make_shared<DiscreteBayesTree::Clique>(
+      std::make_shared<DiscreteConditional>(key0 % "1/3"));
+
+  // Create a BayesTree
+  DiscreteBayesTree bayesTree;
+  bayesTree.insertRoot(clique2);
+  bayesTree.addClique(clique1, clique2);
+  bayesTree.addClique(clique0, clique1);
+
+  // Check that the BayesTree is correct
+  DiscreteValues values;
+  values[0] = 1;
+  values[1] = 1;
+  values[2] = 1;
+
+  double expected = bayesNet.evaluate(values);
+  double actual = bayesTree.evaluate(values);
+  DOUBLES_EQUAL(expected, actual, 1e-9);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

python/gtsam/tests/test_DiscreteBayesTree.py

@@ -156,5 +156,36 @@ class TestDiscreteBayesNet(GtsamTestCase):
         values[X(3)] = 2
         self.assertAlmostEqual(lookup_a2_x3(values), 1.0)  # not 10...
 
+    def test_direct_from_cliques(self):
+        """Test creating a Bayes tree directly from cliques."""
+        # Create a BayesNet
+        bayesNet = DiscreteBayesNet()
+        key0, key1, key2 = (0, 2), (1, 2), (2, 2)
+        bayesNet.add(key0, "1/3")
+        bayesNet.add(key1, [key0], "1/3 3/1")
+        bayesNet.add(key2, [key1], "3/1 3/1")
+
+        # Create cliques directly
+        clique2 = DiscreteBayesTreeClique(DiscreteConditional(key2, [key1], "3/1 3/1"))
+        clique1 = DiscreteBayesTreeClique(DiscreteConditional(key1, [key0], "1/3 3/1"))
+        clique0 = DiscreteBayesTreeClique(DiscreteConditional(key0, "1/3"))
+
+        # Create a BayesTree
+        bayesTree = gtsam.DiscreteBayesTree()
+        bayesTree.insertRoot(clique2)
+        bayesTree.addClique(clique1, clique2)
+        bayesTree.addClique(clique0, clique1)
+
+        # Check that the BayesTree is correct
+        values = DiscreteValues()
+        values[0] = 1
+        values[1] = 1
+        values[2] = 1
+
+        expected = bayesNet.evaluate(values)
+        actual = bayesTree.evaluate(values)
+        self.assertAlmostEqual(expected, actual, places=9)
+
+
 if __name__ == "__main__":
     unittest.main()