157 lines
5.1 KiB
C++
157 lines
5.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSymbolicFactorGraphB.cpp
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* @brief Unit tests for a symbolic Factor Graph
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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 <gtsam/slam/smallExample.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/BayesNet-inl.h>
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#include <gtsam/inference/SymbolicSequentialSolver.h>
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#include <gtsam/nonlinear/Ordering.h>
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using namespace std;
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using namespace gtsam;
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using namespace example;
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Key kx(size_t i) { return Symbol('x',i); }
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Key kl(size_t i) { return Symbol('l',i); }
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/* ************************************************************************* */
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TEST( SymbolicFactorGraph, symbolicFactorGraph )
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{
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Ordering o; o += kx(1),kl(1),kx(2);
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// construct expected symbolic graph
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SymbolicFactorGraph expected;
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expected.push_factor(o[kx(1)]);
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expected.push_factor(o[kx(1)],o[kx(2)]);
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expected.push_factor(o[kx(1)],o[kl(1)]);
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expected.push_factor(o[kx(2)],o[kl(1)]);
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// construct it from the factor graph
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GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
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SymbolicFactorGraph actual(factorGraph);
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CHECK(assert_equal(expected, actual));
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}
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///* ************************************************************************* */
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//TEST( SymbolicFactorGraph, findAndRemoveFactors )
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//{
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// // construct it from the factor graph graph
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// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
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// SymbolicFactorGraph actual(factorGraph);
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// SymbolicFactor::shared_ptr f1 = actual[0];
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// SymbolicFactor::shared_ptr f3 = actual[2];
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// actual.findAndRemoveFactors(kx(2));
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//
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// // construct expected graph after find_factors_and_remove
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// SymbolicFactorGraph expected;
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// SymbolicFactor::shared_ptr null;
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// expected.push_back(f1);
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// expected.push_back(null);
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// expected.push_back(f3);
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// expected.push_back(null);
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//
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// CHECK(assert_equal(expected, actual));
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//}
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///* ************************************************************************* */
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//TEST( SymbolicFactorGraph, factors)
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//{
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// // create a test graph
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// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
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// SymbolicFactorGraph fg(factorGraph);
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//
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// // ask for all factor indices connected to x1
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// list<size_t> x1_factors = fg.factors(kx(1));
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// int x1_indices[] = { 0, 1, 2 };
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// list<size_t> x1_expected(x1_indices, x1_indices + 3);
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// CHECK(x1_factors==x1_expected);
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//
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// // ask for all factor indices connected to x2
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// list<size_t> x2_factors = fg.factors(kx(2));
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// int x2_indices[] = { 1, 3 };
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// list<size_t> x2_expected(x2_indices, x2_indices + 2);
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// CHECK(x2_factors==x2_expected);
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//}
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///* ************************************************************************* */
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//TEST( SymbolicFactorGraph, removeAndCombineFactors )
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//{
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// // create a test graph
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// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
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// SymbolicFactorGraph fg(factorGraph);
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//
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// // combine all factors connected to x1
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// SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,kx(1));
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//
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// // check result
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// SymbolicFactor expected(kl(1),kx(1),kx(2));
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// CHECK(assert_equal(expected,*actual));
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//}
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///* ************************************************************************* */
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//TEST( SymbolicFactorGraph, eliminateOne )
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//{
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// Ordering o; o += kx(1),kl(1),kx(2);
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// // create a test graph
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// GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
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// SymbolicFactorGraph fg(factorGraph);
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//
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// // eliminate
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// IndexConditional::shared_ptr actual = GaussianSequentialSolver::EliminateUntil(fg, o[kx(1)]+1);
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//
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// // create expected symbolic IndexConditional
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// IndexConditional expected(o[kx(1)],o[kl(1)],o[kx(2)]);
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//
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// CHECK(assert_equal(expected,*actual));
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//}
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/* ************************************************************************* */
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TEST( SymbolicFactorGraph, eliminate )
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{
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Ordering o; o += kx(2),kl(1),kx(1);
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// create expected Chordal bayes Net
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IndexConditional::shared_ptr x2(new IndexConditional(o[kx(2)], o[kl(1)], o[kx(1)]));
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IndexConditional::shared_ptr l1(new IndexConditional(o[kl(1)], o[kx(1)]));
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IndexConditional::shared_ptr x1(new IndexConditional(o[kx(1)]));
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SymbolicBayesNet expected;
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expected.push_back(x2);
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expected.push_back(l1);
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expected.push_back(x1);
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// create a test graph
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GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
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SymbolicFactorGraph fg(factorGraph);
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// eliminate it
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SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(&EliminateSymbolic);
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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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