134 lines
3.9 KiB
C++
134 lines
3.9 KiB
C++
/**
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* @file testIncremental.cpp
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* @brief Unit tests for graph-based iSAM
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* @author Michael Kaess
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* @author Viorela Ila
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* @author Frank Dellaert
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*/
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#include <boost/tuple/tuple.hpp>
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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 "SymbolicFactorGraph.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 std;
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using namespace gtsam;
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typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
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typedef BayesTree<GaussianConditional> GaussianBayesTree;
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/* ************************************************************************* */
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SymbolicBayesTree update(SymbolicBayesTree& initial,
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const boost::shared_ptr<SymbolicFactor>& newFactor) {
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// Remove the contaminated part of the Bayes tree
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FactorGraph<SymbolicFactor> factors;
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SymbolicBayesTree::Cliques orphans;
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boost::tie(factors,orphans) = initial.removeTop<SymbolicFactor>(newFactor);
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// create an ordering BELS
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Ordering ordering = factors.getOrdering();
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// eliminate into a Bayes net
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SymbolicBayesNet bayesNet = eliminate<SymbolicFactor,SymbolicConditional>(factors,ordering);
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// turn back into a Bayes Tree
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BayesTree<SymbolicConditional> newTree(bayesNet);
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// add orphans to the bottom of the new tree
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BOOST_FOREACH(SymbolicBayesTree::sharedClique orphan, orphans) {
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BOOST_FOREACH(string key1, orphan->separator_) {
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// get clique from new tree to attach to
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SymbolicBayesTree::sharedClique candidateParent = newTree[key1];
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// check if all conditionals in there, only add once
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bool is_subset = true;
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BOOST_FOREACH(string key2, orphan->separator_) {
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// if any one not included, then we have to stop and search for another clique
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list<string> keys = candidateParent->keys();
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if (find(keys.begin(), keys.end(), key2) == keys.end()) {
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is_subset = false;
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break;
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}
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}
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// this clique contains all the keys of the orphan,
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// so we can add the orphan as a child
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// todo: what about the tree below the orphan?
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if (is_subset) {
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candidateParent->children_ += orphan;
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break;
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}
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}
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}
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return newTree;
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}
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/* ************************************************************************* */
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TEST( BayesTree, iSAM )
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{
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// Conditionals for ASIA example from the tutorial with A and D evidence
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SymbolicConditional::shared_ptr
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B(new SymbolicConditional("B")),
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L(new SymbolicConditional("L", "B")),
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E(new SymbolicConditional("E", "B", "L")),
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S(new SymbolicConditional("S", "L", "B")),
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T(new SymbolicConditional("T", "E", "L")),
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X(new SymbolicConditional("X", "E"));
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// Create using insert
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SymbolicBayesTree 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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// Now we modify the Bayes tree by inserting a new factor over B and S
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// New conditionals in modified top of the tree
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SymbolicConditional::shared_ptr
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S_(new SymbolicConditional("S")),
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L_(new SymbolicConditional("L", "S")),
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E_(new SymbolicConditional("E", "L", "S")),
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B_(new SymbolicConditional("B", "E", "L", "S"));
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// Create expected Bayes tree
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SymbolicBayesTree expected;
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expected.insert(S_);
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expected.insert(L_);
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expected.insert(E_);
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expected.insert(B_);
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expected.insert(T);
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expected.insert(X);
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// create a new factor to be inserted
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list<string> keys;
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keys += "B","S";
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boost::shared_ptr<SymbolicFactor> newFactor(new SymbolicFactor(keys));
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// do incremental inference
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SymbolicBayesTree actual = update(bayesTree, newFactor);
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// Check whether the same
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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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