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Better tests on backSubstituteTranspose

release/4.3a0
Frank Dellaert 2019-04-03 18:45:16 -04:00
parent 59df91d295
commit ecaf415d1e
1 changed files with 28 additions and 0 deletions
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28
gtsam/linear/tests/testGaussianBayesNet.cpp
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@ -152,6 +152,34 @@ TEST( GaussianBayesNet, backSubstituteTranspose )
VectorValues actual = smallBayesNet.backSubstituteTranspose(x);
EXPECT(assert_equal(expected, actual));
const auto ordering = noisyBayesNet.ordering();
const Matrix R = smallBayesNet.matrix(ordering).first;
const Vector expected_vector = R.transpose().inverse() * x.vector(ordering);
EXPECT(assert_equal(expected_vector, actual.vector(ordering)));
}
/* ************************************************************************* */
TEST( GaussianBayesNet, backSubstituteTransposeNoisy )
{
// x=R'*y, expected=inv(R')*x
// 2 = 1 2
// 5 1 1 3
VectorValues
x = map_list_of<Key, Vector>
(_x_, Vector1::Constant(2))
(_y_, Vector1::Constant(5)),
expected = map_list_of<Key, Vector>
(_x_, Vector1::Constant(4))
(_y_, Vector1::Constant(9));
VectorValues actual = noisyBayesNet.backSubstituteTranspose(x);
EXPECT(assert_equal(expected, actual));
const auto ordering = noisyBayesNet.ordering();
const Matrix R = noisyBayesNet.matrix(ordering).first;
const Vector expected_vector = R.transpose().inverse() * x.vector(ordering);
EXPECT(assert_equal(expected_vector, actual.vector(ordering)));
}
/* ************************************************************************* */