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Fixed thin tree indexing, and conditionals

release/4.3a0
Frank Dellaert 2012-09-15 02:54:42 +00:00
parent a9cae46b10
commit ea6655beba
2 changed files with 24 additions and 36 deletions
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7
matlab/gtsam_tests/testThinTreeBayesNet.m
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@ -10,18 +10,15 @@
% * -------------------------------------------------------------------------- */
%
% /**
% * @file testThinTree.cpp
% * @file testThinTreeBayesNet.cpp
% * @brief Test of binary tree
% * @date Sep 13, 2012
% * @author Frank Dellaert
% * @author Jean-Guillaume Durand
% */
%% Clean the workspace
clc, clear all, close all;
%% Run the tests
import gtsam.*
[bayesNet tree] = thinTreeBayesNet(4,2);
EQUALITY('7 = bayesNet.size', 7, bayesNet.size);
bayesNet.saveGraph('thinTreeBayesNet.dot');
gtsam.plotBayesNet(bayesNet);

53
matlab/gtsam_tests/thinTreeBayesNet.m
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@ -1,39 +1,30 @@
function [bayesNet, tree] = thinTreeBayesNet(d,w)
function [bayesNet, tree] = thinTreeBayesNet(depth,width)
% thinTreeBayesNet
import gtsam.*
bayesNet = GaussianBayesNet;
tree = thinTree(d,w);
tree = thinTree(depth,width);
% Filling the tree
% Creation of the root
% Add root to the Bayes net
gc = gtsam.GaussianConditional(1, 5*rand(1), 5*rand(1), 3*rand(1));
% Getting it into the GaussianBayesNet
bayesNet.push_front(gc);
for i=1:tree.getNumberOfElements()
% Getting the parents of that node
parents = tree.getParents(i);
% Create and link the corresponding GaussianConditionals
if tree.getW == 1 || tree.getNodeDepth(i) <= 2
% Creation of the GaussianConditional
gc = gtsam.GaussianConditional(parents(1), 5*rand(1), 5*rand(1), i, 5*rand(1), 5*rand(1));
% Getting it into the GaussianBayesNet
bayesNet.push_front(gc);
% Getting it in the thinTree
tree = tree.addContent({gc,parents}, i);
elseif tree.getW == 2 && tree.getNodeDepth(i) > 2
% Creation of the GaussianConditional associated with the first
% parent
gc = gtsam.GaussianConditional(parents(1), 5*rand(1), 5*rand(1), i, 5*rand(1), 5*rand(1));
% Getting it into the GaussianBayesNet
bayesNet.push_front(gc);
% Creation of the GaussianConditionalj associated with the second
% parent
gc = gtsam.GaussianConditional(parents(2), 5*rand(1), 5*rand(1), i, 5*rand(1), 5*rand(1));
% Getting it into the GaussianBayesNet
bayesNet.push_front(gc);
% Getting it in the thinTree
tree = tree.addContent({gc,parents}, i);
end
n=tree.getNumberOfElements();
for i=2:n
% Getting the parents of that node
i
parents = tree.getParents(i)
di = tree.getNodeDepth(i)
% Create and link the corresponding GaussianConditionals
if tree.getW == 1 || di == 2
% Creation of single-parent GaussianConditional
gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), 5*rand(1));
elseif tree.getW == 2 || di == 3
% GaussianConditionalj associated with the second parent
gc = gtsam.GaussianConditional(n-i, 5*rand(1), 5*rand(1), n-parents(1), 5*rand(1), n-parents(2), 5*rand(1), 5*rand(1));
end
% Add conditional to the Bayes net
bayesNet.push_front(gc);
end
end