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Test all HybridConditionals in all possible calling conventions.

release/4.3a0
Frank Dellaert 2023-01-14 12:57:53 -08:00
parent ce8bf7ac48
commit bead5ce4da
1 changed files with 27 additions and 19 deletions
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46
gtsam/hybrid/tests/testHybridConditional.cpp
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@ -40,31 +40,39 @@ TEST(HybridConditional, Invariants) {
const HybridValues values{c, d};
// Check invariants for p(z|x,m)
auto hc1 = bn.at(0);
CHECK(hc1->isHybrid());
GTSAM_PRINT(*hc1);
auto hc0 = bn.at(0);
CHECK(hc0->isHybrid());
// Check invariants as a GaussianMixture.
const auto mixture = hc1->asMixture();
double probability = mixture->evaluate(values);
CHECK(probability >= 0.0);
EXPECT_DOUBLES_EQUAL(probability, (*mixture)(values), 1e-9);
double logProb = mixture->logProbability(values);
EXPECT_DOUBLES_EQUAL(probability, std::exp(logProb), 1e-9);
double expected =
mixture->logNormalizationConstant() - mixture->error(values);
EXPECT_DOUBLES_EQUAL(logProb, expected, 1e-9);
const auto mixture = hc0->asMixture();
EXPECT(GaussianMixture::CheckInvariants(*mixture, values));
// Check invariants as a HybridConditional.
probability = hc1->evaluate(values);
CHECK(probability >= 0.0);
EXPECT_DOUBLES_EQUAL(probability, (*hc1)(values), 1e-9);
logProb = hc1->logProbability(values);
EXPECT_DOUBLES_EQUAL(probability, std::exp(logProb), 1e-9);
expected = hc1->logNormalizationConstant() - hc1->error(values);
EXPECT_DOUBLES_EQUAL(logProb, expected, 1e-9);
EXPECT(HybridConditional::CheckInvariants(*hc0, values));
// Check invariants for p(x)
auto hc1 = bn.at(1);
CHECK(hc1->isContinuous());
// Check invariants as a GaussianConditional.
const auto gaussian = hc1->asGaussian();
EXPECT(GaussianConditional::CheckInvariants(*gaussian, c));
EXPECT(GaussianConditional::CheckInvariants(*gaussian, values));
// Check invariants as a HybridConditional.
EXPECT(HybridConditional::CheckInvariants(*hc1, values));
// Check invariants for p(m)
auto hc2 = bn.at(2);
CHECK(hc2->isDiscrete());
// Check invariants as a DiscreteConditional.
const auto discrete = hc2->asDiscrete();
EXPECT(DiscreteConditional::CheckInvariants(*discrete, d));
EXPECT(DiscreteConditional::CheckInvariants(*discrete, values));
// Check invariants as a HybridConditional.
EXPECT(HybridConditional::CheckInvariants(*hc2, values));
}
/* ************************************************************************* */