12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed unused code from Concurrent Batch Filter unit test

release/4.3a0
Stephen Williams 2013-04-11 19:16:52 +00:00
parent f963aeb401
commit d44a9e3b75
1 changed files with 0 additions and 88 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

88
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
View File

@ -811,94 +811,6 @@ TEST_UNSAFE( ConcurrentBatchFilter, synchronize )
CHECK(assert_equal(expectedSmootherValues, actualSmootherValues, 1e-3));
CHECK(hessian_equal(expectedFilterSumarization, actualFilterSumarization, optimalTheta, 1e-8));
CHECK(assert_equal(expectedSeparatorValues, actualSeparatorValues, 1e-4));
//
//
//
//
//
//
//
//
// // Eliminate the factor graph into a Bayes Tree to create the summarized factors
//
// // Create Ordering
// constraints.clear();
// constraints[Symbol('X', 15)] = 1;
// constraints[Symbol('X', 16)] = 1;
// constraints[Symbol('X', 17)] = 1;
// constraints[Symbol('X', 18)] = 1;
// constraints[Symbol('X', 19)] = 1;
// ordering = *fullGraph.orderingCOLAMDConstrained(optimalTheta, constraints);
// // Linearize into a Gaussian Factor Graph
// linearGraph = *fullGraph.linearize(optimalTheta, ordering);
// // Eliminate into a Bayes Net with iSAM2-type cliques
// jt = JunctionTree<GaussianFactorGraph, ISAM2Clique>(linearGraph);
// root = jt.eliminate(EliminateQR);
// bayesTree = BayesTree<GaussianConditional, ISAM2Clique>();
// bayesTree.insert(root);
//
//
// // Extract the cached factors for X4 and X6. These are the new smoother summarized factors
// smootherSummarization.resize(0);
// smootherSummarization.add(LinearContainerFactor(bayesTree.nodes().at(ordering.at(Symbol('X', 4)))->cachedFactor(), ordering, optimalTheta));
// smootherSummarization.add(LinearContainerFactor(bayesTree.nodes().at(ordering.at(Symbol('X', 6)))->cachedFactor(), ordering, optimalTheta));
//
// // Extract the nonlinear factors that should be sent to the smoother
// expectedSmootherFactors.resize(0);
// BOOST_FOREACH(const NonlinearFactor::shared_ptr& factor, fullGraph) {
// if(std::find_first_of(factor->begin(), factor->end(), marginalizeKeys.begin(), marginalizeKeys.end()) != factor->end()) {
// expectedSmootherFactors.push_back(factor);
// }
// }
// // And any factors that involve only the old separator (X7, X9)
// separatorKeys.clear();
// separatorKeys.insert(Symbol('X', 7));
// separatorKeys.insert(Symbol('X', 9));
// FindFactorsWithOnly(separatorKeys, fullGraph, expectedSmootherFactors);
//
//
// // Extract smoother Values
// expectedSmootherValues.clear();
// BOOST_FOREACH(Key key, marginalizeKeys) {
// expectedSmootherValues.insert(key, optimalTheta.at(key));
// }
//
// // Extract the filter summarized factors
// // Cached factors that represent the filter side (i.e. the X15 and X17 clique)
// expectedFilterSumarization.resize(0);
// expectedFilterSumarization.add(LinearContainerFactor(bayesTree.nodes().at(ordering.at(Symbol('X', 15)))->cachedFactor(), ordering, optimalTheta));
// expectedFilterSumarization.add(LinearContainerFactor(bayesTree.nodes().at(ordering.at(Symbol('X', 17)))->cachedFactor(), ordering, optimalTheta));
// // And any factors that involve only the new separator (X14, X16)
// separatorKeys.clear();
// separatorKeys.insert(Symbol('X', 14));
// separatorKeys.insert(Symbol('X', 16));
// FindFactorsWithOnly(separatorKeys, fullGraph, expectedFilterSumarization);
//
// // Extract the new root keys
// expectedSeparatorValues.clear();
// BOOST_FOREACH(Key key, separatorKeys) {
// expectedSeparatorValues.insert(key, optimalTheta.at(key));
// }
//
//
//
// // Start the synchronization process
// actualSmootherFactors.resize(0); actualFilterSumarization.resize(0);
// actualSmootherValues.clear(); actualSeparatorValues.clear();
// smootherSeparatorValues = expectedSeparatorValues;
// filter.presync();
// filter.synchronize(smootherSummarization, smootherSeparatorValues);
// filter.getSmootherFactors(actualSmootherFactors, actualSmootherValues);
// filter.getSummarizedFactors(actualFilterSumarization, actualSeparatorValues);
// filter.postsync();
//
//
//
// // Compare filter sync variables versus the expected
// CHECK(hessian_equal(expectedSmootherFactors, actualSmootherFactors, optimalTheta, 1e-8));
// CHECK(assert_equal(expectedSmootherValues, actualSmootherValues, 1e-3));
// CHECK(hessian_equal(expectedFilterSumarization, actualFilterSumarization, optimalTheta, 1e-8));
// CHECK(assert_equal(expectedSeparatorValues, actualSeparatorValues, 1e-4));
}
/* ************************************************************************* */