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skeleton hardcoded version

release/4.3a0
Frank Dellaert 2009-11-18 17:03:19 +00:00
parent bed219c997
commit c7e76891da
1 changed files with 27 additions and 4 deletions
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31
cpp/testIncremental.cpp
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@ -10,7 +10,7 @@ using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include "SymbolicBayesNet.h"
#include "SymbolicFactor.h"
#include "SymbolicFactorGraph.h"
#include "GaussianBayesNet.h"
#include "Ordering.h"
#include "BayesTree-inl.h"
@ -31,8 +31,31 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
/* ************************************************************************* */
SymbolicBayesTree update(const SymbolicBayesTree& initial, const SymbolicFactor& newFactor) {
return initial;
SymbolicBayesTree update(const SymbolicBayesTree& initial,
const boost::shared_ptr<SymbolicFactor>& newFactor) {
// create a factor graph with the new factor in it
SymbolicFactorGraph factorGraph;
factorGraph.push_back(newFactor);
// get the ELB clique
// add it to the factor graph
// get the SLB clique
// add it to the factor graph
// create an ordering ESLB
Ordering ordering;
ordering += "S","B";
// eliminate into a Bayes net
SymbolicBayesNet bayesNet = eliminate<SymbolicFactor,SymbolicConditional>(factorGraph,ordering);
// turn back into a Bayes Tree
BayesTree<SymbolicConditional> newTree(bayesNet);
// add orphans to the bottom of the new tree
return newTree;
}
/* ************************************************************************* */
@ -61,7 +84,7 @@ TEST( BayesTree, iSAM )
// create a new factor to be inserted
list<string> keys;
keys += "B","S";
SymbolicFactor newFactor(keys);
boost::shared_ptr<SymbolicFactor> newFactor(new SymbolicFactor(keys));
// do incremental inference
SymbolicBayesTree actual = update(bayesTree, newFactor);