225 lines
6.6 KiB
C++
225 lines
6.6 KiB
C++
/*
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* testCSP.cpp
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* @brief develop code for CSP solver
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* @date Feb 5, 2012
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* @author Frank Dellaert
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*/
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#include <gtsam_unstable/discrete/CSP.h>
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#include <gtsam_unstable/discrete/Domain.h>
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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#include <fstream>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST_UNSAFE( BinaryAllDif, allInOne)
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{
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// Create keys and ordering
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size_t nrColors = 2;
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// DiscreteKey ID("Idaho", nrColors), UT("Utah", nrColors), AZ("Arizona", nrColors);
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DiscreteKey ID(0, nrColors), UT(2, nrColors), AZ(1, nrColors);
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// Check construction and conversion
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BinaryAllDiff c1(ID, UT);
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DecisionTreeFactor f1(ID & UT, "0 1 1 0");
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EXPECT(assert_equal(f1,(DecisionTreeFactor)c1));
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// Check construction and conversion
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BinaryAllDiff c2(UT, AZ);
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DecisionTreeFactor f2(UT & AZ, "0 1 1 0");
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EXPECT(assert_equal(f2,(DecisionTreeFactor)c2));
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DecisionTreeFactor f3 = f1*f2;
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EXPECT(assert_equal(f3,c1*f2));
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EXPECT(assert_equal(f3,c2*f1));
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}
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/* ************************************************************************* */
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TEST_UNSAFE( CSP, allInOne)
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{
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// Create keys and ordering
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size_t nrColors = 2;
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DiscreteKey ID(0, nrColors), UT(2, nrColors), AZ(1, nrColors);
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// Create the CSP
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CSP csp;
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csp.addAllDiff(ID,UT);
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csp.addAllDiff(UT,AZ);
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// Check an invalid combination, with ID==UT==AZ all same color
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DiscreteFactor::Values invalid;
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invalid[ID.first] = 0;
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invalid[UT.first] = 0;
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invalid[AZ.first] = 0;
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EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9);
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// Check a valid combination
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DiscreteFactor::Values valid;
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valid[ID.first] = 0;
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valid[UT.first] = 1;
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valid[AZ.first] = 0;
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EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9);
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// Just for fun, create the product and check it
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DecisionTreeFactor product = csp.product();
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// product.dot("product");
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DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0");
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EXPECT(assert_equal(expectedProduct,product));
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// Solve
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CSP::sharedValues mpe = csp.optimalAssignment();
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CSP::Values expected;
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insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 1);
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EXPECT(assert_equal(expected,*mpe));
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EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9);
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}
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/* ************************************************************************* */
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TEST_UNSAFE( CSP, WesternUS)
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{
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// Create keys
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size_t nrColors = 4;
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DiscreteKey
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// Create ordering according to example in ND-CSP.lyx
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WA(0, nrColors), OR(3, nrColors), CA(1, nrColors),NV(2, nrColors),
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ID(8, nrColors), UT(9, nrColors), AZ(10, nrColors),
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MT(4, nrColors), WY(5, nrColors), CO(7, nrColors), NM(6, nrColors);
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// Create the CSP
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CSP csp;
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csp.addAllDiff(WA,ID);
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csp.addAllDiff(WA,OR);
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csp.addAllDiff(OR,ID);
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csp.addAllDiff(OR,CA);
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csp.addAllDiff(OR,NV);
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csp.addAllDiff(CA,NV);
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csp.addAllDiff(CA,AZ);
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csp.addAllDiff(ID,MT);
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csp.addAllDiff(ID,WY);
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csp.addAllDiff(ID,UT);
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csp.addAllDiff(ID,NV);
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csp.addAllDiff(NV,UT);
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csp.addAllDiff(NV,AZ);
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csp.addAllDiff(UT,WY);
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csp.addAllDiff(UT,CO);
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csp.addAllDiff(UT,NM);
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csp.addAllDiff(UT,AZ);
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csp.addAllDiff(AZ,CO);
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csp.addAllDiff(AZ,NM);
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csp.addAllDiff(MT,WY);
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csp.addAllDiff(WY,CO);
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csp.addAllDiff(CO,NM);
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// Solve
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CSP::sharedValues mpe = csp.optimalAssignment();
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// GTSAM_PRINT(*mpe);
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CSP::Values expected;
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insert(expected)
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(WA.first,1)(CA.first,1)(NV.first,3)(OR.first,0)
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(MT.first,1)(WY.first,0)(NM.first,3)(CO.first,2)
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(ID.first,2)(UT.first,1)(AZ.first,0);
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EXPECT(assert_equal(expected,*mpe));
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EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9);
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// Write out the dual graph for hmetis
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#ifdef DUAL
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VariableIndex index(csp);
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index.print("index");
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ofstream os("/Users/dellaert/src/hmetis-1.5-osx-i686/US-West-dual.txt");
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index.outputMetisFormat(os);
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#endif
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}
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/* ************************************************************************* */
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TEST_UNSAFE( CSP, AllDiff)
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{
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// Create keys and ordering
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size_t nrColors = 3;
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DiscreteKey ID(0, nrColors), UT(2, nrColors), AZ(1, nrColors);
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// Create the CSP
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CSP csp;
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vector<DiscreteKey> dkeys;
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dkeys += ID,UT,AZ;
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csp.addAllDiff(dkeys);
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csp.addSingleValue(AZ,2);
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// GTSAM_PRINT(csp);
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// Check construction and conversion
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SingleValue s(AZ,2);
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DecisionTreeFactor f1(AZ,"0 0 1");
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EXPECT(assert_equal(f1,(DecisionTreeFactor)s));
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// Check construction and conversion
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AllDiff alldiff(dkeys);
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DecisionTreeFactor actual = (DecisionTreeFactor)alldiff;
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// GTSAM_PRINT(actual);
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// actual.dot("actual");
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DecisionTreeFactor f2(ID & AZ & UT,
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"0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 0 0");
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EXPECT(assert_equal(f2,actual));
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// Check an invalid combination, with ID==UT==AZ all same color
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DiscreteFactor::Values invalid;
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invalid[ID.first] = 0;
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invalid[UT.first] = 1;
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invalid[AZ.first] = 0;
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EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9);
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// Check a valid combination
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DiscreteFactor::Values valid;
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valid[ID.first] = 0;
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valid[UT.first] = 1;
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valid[AZ.first] = 2;
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EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9);
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// Solve
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CSP::sharedValues mpe = csp.optimalAssignment();
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CSP::Values expected;
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insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 2);
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EXPECT(assert_equal(expected,*mpe));
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EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9);
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// Arc-consistency
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vector<Domain> domains;
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domains += Domain(ID), Domain(AZ), Domain(UT);
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SingleValue singleValue(AZ,2);
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EXPECT(singleValue.ensureArcConsistency(1,domains));
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EXPECT(alldiff.ensureArcConsistency(0,domains));
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EXPECT(!alldiff.ensureArcConsistency(1,domains));
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EXPECT(alldiff.ensureArcConsistency(2,domains));
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LONGS_EQUAL(2,domains[0].nrValues());
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LONGS_EQUAL(1,domains[1].nrValues());
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LONGS_EQUAL(2,domains[2].nrValues());
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// Parial application, version 1
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DiscreteFactor::Values known;
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known[AZ.first] = 2;
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DiscreteFactor::shared_ptr reduced1 = alldiff.partiallyApply(known);
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DecisionTreeFactor f3(ID & UT, "0 1 1 1 0 1 1 1 0");
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EXPECT(assert_equal(f3,reduced1->operator DecisionTreeFactor()));
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DiscreteFactor::shared_ptr reduced2 = singleValue.partiallyApply(known);
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DecisionTreeFactor f4(AZ, "0 0 1");
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EXPECT(assert_equal(f4,reduced2->operator DecisionTreeFactor()));
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// Parial application, version 2
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DiscreteFactor::shared_ptr reduced3 = alldiff.partiallyApply(domains);
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EXPECT(assert_equal(f3,reduced3->operator DecisionTreeFactor()));
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DiscreteFactor::shared_ptr reduced4 = singleValue.partiallyApply(domains);
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EXPECT(assert_equal(f4,reduced4->operator DecisionTreeFactor()));
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// full arc-consistency test
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csp.runArcConsistency(nrColors);
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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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