51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
/**
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* @file testSymbolicBayesChain.cpp
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* @brief Unit tests for a symbolic Bayes chain
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* @author Frank Dellaert
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*/
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#include <boost/assign/list_inserter.hpp> // for 'insert()'
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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 "smallExample.h"
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#include "SymbolicBayesChain.h"
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#include "SymbolicFactorGraph.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( SymbolicBayesChain, constructor )
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{
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// Create manually
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SymbolicConditional::shared_ptr
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x2(new SymbolicConditional("l1", "x1")),
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l1(new SymbolicConditional("x1")),
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x1(new SymbolicConditional());
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SymbolicBayesChain expected;
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expected.insert("x2",x2);
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expected.insert("l1",l1);
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expected.insert("x1",x1);
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// Create from a factor graph
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LinearFactorGraph factorGraph = createLinearFactorGraph();
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SymbolicFactorGraph fg(factorGraph);
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// eliminate it
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Ordering ordering;
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ordering += "x2","l1","x1";
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SymbolicBayesChain::shared_ptr actual = fg.eliminate(ordering);
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CHECK(assert_equal(expected, *actual));
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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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