144 lines
4.1 KiB
C++
144 lines
4.1 KiB
C++
/**
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* @file testBayesTree.cpp
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* @brief Unit tests for Bayes Tree
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* @author Frank Dellaert
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*/
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "SymbolicBayesNet.h"
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#include "GaussianBayesNet.h"
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#include "Ordering.h"
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#include "BayesTree-inl.h"
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#include "smallExample.h"
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using namespace gtsam;
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// Conditionals for ASIA example from the tutorial with A and D evidence
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SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
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new SymbolicConditional("L", "B")), E(
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new SymbolicConditional("E", "L", "B")), S(new SymbolicConditional("S",
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"L", "B")), T(new SymbolicConditional("T", "E", "L")), X(
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new SymbolicConditional("X", "E"));
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/* ************************************************************************* */
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TEST( BayesTree, Front )
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{
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SymbolicBayesNet f1;
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f1.push_back(B);
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f1.push_back(L);
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SymbolicBayesNet f2;
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f2.push_back(L);
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f2.push_back(B);
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CHECK(f1.equals(f1));
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CHECK(!f1.equals(f2));
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}
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/* ************************************************************************* */
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TEST( BayesTree, constructor )
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{
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// Create using insert
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BayesTree<SymbolicConditional> bayesTree;
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bayesTree.insert(B);
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bayesTree.insert(L);
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bayesTree.insert(E);
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bayesTree.insert(S);
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bayesTree.insert(T);
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bayesTree.insert(X);
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// Check Size
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LONGS_EQUAL(6,bayesTree.size());
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// Check root
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BayesNet<SymbolicConditional> expected_root;
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expected_root.push_back(E);
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expected_root.push_back(L);
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expected_root.push_back(B);
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boost::shared_ptr<BayesNet<SymbolicConditional> > actual_root = bayesTree.root();
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CHECK(assert_equal(expected_root,*actual_root));
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// Create from symbolic Bayes chain in which we want to discover cliques
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SymbolicBayesNet ASIA;
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ASIA.push_back(X);
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ASIA.push_back(T);
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ASIA.push_back(S);
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ASIA.push_back(E);
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ASIA.push_back(L);
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ASIA.push_back(B);
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BayesTree<SymbolicConditional> bayesTree2(ASIA);
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//bayesTree2.print("bayesTree2");
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// Check whether the same
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CHECK(assert_equal(bayesTree,bayesTree2));
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}
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/* ************************************************************************* *
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Bayes tree for smoother with "natural" ordering:
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x6 x7
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x5 : x6
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x4 : x5
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x3 : x4
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x2 : x3
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x1 : x2
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/* ************************************************************************* */
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TEST( BayesTree, smoother )
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{
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// Create smoother with 7 nodes
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LinearFactorGraph smoother = createSmoother(7);
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Ordering ordering;
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for (int t = 1; t <= 7; t++)
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ordering.push_back(symbol('x', t));
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// eliminate using the "natural" ordering
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GaussianBayesNet::shared_ptr chordalBayesNet = smoother.eliminate(ordering);
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// Create the Bayes tree
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet);
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LONGS_EQUAL(7,bayesTree.size());
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}
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/* ************************************************************************* *
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Bayes tree for smoother with "nested dissection" ordering:
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x5 x6 x4
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x3 x2 : x4
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x1 : x2
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x7 : x6
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/* ************************************************************************* */
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TEST( BayesTree, balanced_smoother_marginals )
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{
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// Create smoother with 7 nodes
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LinearFactorGraph smoother = createSmoother(7);
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Ordering ordering;
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ordering += "x1","x3","x5","x7","x2","x6","x4";
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// eliminate using a "nested dissection" ordering
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GaussianBayesNet::shared_ptr chordalBayesNet = smoother.eliminate(ordering);
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// Create the Bayes tree
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BayesTree<ConditionalGaussian> bayesTree(*chordalBayesNet);
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LONGS_EQUAL(7,bayesTree.size());
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// Check root clique
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//BayesNet<ConditionalGaussian> expected_root;
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//BayesNet<ConditionalGaussian> actual_root = bayesTree.root();
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//CHECK(assert_equal(expected_root,actual_root));
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// Check marginal on x1
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ConditionalGaussian expected;
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ConditionalGaussian::shared_ptr actual = bayesTree.marginal("x1");
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CHECK(assert_equal(expected,*actual));
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// JunctionTree is an undirected tree of cliques
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// JunctionTree<ConditionalGaussian> marginals = bayesTree.marginals();
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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