100 lines
2.5 KiB
C++
100 lines
2.5 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 testSymbolicBayesNet.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/make_shared.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/symbolic/SymbolicBayesNet.h>
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#include <gtsam/symbolic/SymbolicConditional.h>
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using namespace std;
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using namespace gtsam;
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static const Key _L_ = 0;
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static const Key _A_ = 1;
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static const Key _B_ = 2;
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static const Key _C_ = 3;
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static const Key _D_ = 4;
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static SymbolicConditional::shared_ptr
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B(new SymbolicConditional(_B_)),
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L(new SymbolicConditional(_L_, _B_));
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, equals )
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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( SymbolicBayesNet, combine )
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{
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SymbolicConditional::shared_ptr
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A(new SymbolicConditional(_A_,_B_,_C_)),
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B(new SymbolicConditional(_B_,_C_)),
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C(new SymbolicConditional(_C_));
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// p(A|BC)
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SymbolicBayesNet p_ABC;
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p_ABC.push_back(A);
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// P(BC)=P(B|C)P(C)
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SymbolicBayesNet p_BC;
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p_BC.push_back(B);
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p_BC.push_back(C);
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// P(ABC) = P(A|BC) P(BC)
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p_ABC.push_back(p_BC);
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SymbolicBayesNet expected;
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expected.push_back(A);
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expected.push_back(B);
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expected.push_back(C);
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CHECK(assert_equal(expected,p_ABC));
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}
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/* ************************************************************************* */
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TEST(SymbolicBayesNet, saveGraph) {
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SymbolicBayesNet bn;
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bn += SymbolicConditional(_A_, _B_);
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std::vector<Key> keys;
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keys.push_back(_B_);
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keys.push_back(_C_);
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keys.push_back(_D_);
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bn += SymbolicConditional::FromKeys(keys,2);
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bn += SymbolicConditional(_D_);
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bn.saveGraph("SymbolicBayesNet.dot");
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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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