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Convenience constructors

release/4.3a0
Frank Dellaert 2022-12-28 17:47:41 -05:00
parent 0495f81104
commit d9511d6dc2
2 changed files with 25 additions and 15 deletions
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21
gtsam/hybrid/HybridBayesNet.h
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@ -69,10 +69,25 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
/// Add HybridConditional to Bayes Net
using Base::add;
/// Add a Gaussian Mixture to the Bayes Net.
template <typename... T>
void addMixture(T &&...args) {
push_back(HybridConditional(
boost::make_shared<GaussianMixture>(std::forward<T>(args)...)));
}
/// Add a Gaussian conditional to the Bayes Net.
template <typename... T>
void addGaussian(T &&...args) {
push_back(HybridConditional(
boost::make_shared<GaussianConditional>(std::forward<T>(args)...)));
}
/// Add a discrete conditional to the Bayes Net.
void add(const DiscreteKey &key, const std::string &table) {
push_back(
HybridConditional(boost::make_shared<DiscreteConditional>(key, table)));
template <typename... T>
void addDiscrete(T &&...args) {
push_back(HybridConditional(
boost::make_shared<DiscreteConditional>(std::forward<T>(args)...)));
}
using Base::push_back;

19
gtsam/hybrid/tests/testHybridBayesNet.cpp
View File

@ -43,7 +43,7 @@ static const DiscreteKey Asia(asiaKey, 2);
// Test creation of a pure discrete Bayes net.
TEST(HybridBayesNet, Creation) {
HybridBayesNet bayesNet;
bayesNet.add(Asia, "99/1");
bayesNet.addDiscrete(Asia, "99/1");
DiscreteConditional expected(Asia, "99/1");
CHECK(bayesNet.atDiscrete(0));
@ -54,7 +54,7 @@ TEST(HybridBayesNet, Creation) {
// Test adding a Bayes net to another one.
TEST(HybridBayesNet, Add) {
HybridBayesNet bayesNet;
bayesNet.add(Asia, "99/1");
bayesNet.addDiscrete(Asia, "99/1");
HybridBayesNet other;
other.push_back(bayesNet);
@ -65,7 +65,7 @@ TEST(HybridBayesNet, Add) {
// Test evaluate for a pure discrete Bayes net P(Asia).
TEST(HybridBayesNet, evaluatePureDiscrete) {
HybridBayesNet bayesNet;
bayesNet.add(Asia, "99/1");
bayesNet.addDiscrete(Asia, "99/1");
HybridValues values;
values.insert(asiaKey, 0);
EXPECT_DOUBLES_EQUAL(0.99, bayesNet.evaluate(values), 1e-9);
@ -85,17 +85,12 @@ TEST(HybridBayesNet, evaluateHybrid) {
conditional1 = boost::make_shared<GaussianConditional>(
X(1), Vector1::Constant(2), I_1x1, model1);
// TODO(dellaert): creating and adding mixture is clumsy.
const auto mixture = GaussianMixture::FromConditionals(
{X(1)}, {}, {Asia}, {conditional0, conditional1});
// Create hybrid Bayes net.
HybridBayesNet bayesNet;
bayesNet.push_back(HybridConditional(
boost::make_shared<GaussianConditional>(continuousConditional)));
bayesNet.push_back(
HybridConditional(boost::make_shared<GaussianMixture>(mixture)));
bayesNet.add(Asia, "99/1");
bayesNet.addGaussian(continuousConditional);
bayesNet.addMixture(GaussianMixture::FromConditionals(
{X(1)}, {}, {Asia}, {conditional0, conditional1}));
bayesNet.addDiscrete(Asia, "99/1");
// Create values at which to evaluate.
HybridValues values;