137 lines
3.7 KiB
C++
137 lines
3.7 KiB
C++
/**
|
|
* @file testConditionalGaussian.cpp
|
|
* @brief Unit tests for Conditional gaussian
|
|
* @author Christian Potthast
|
|
**/
|
|
|
|
/*STL/C++*/
|
|
#include <iostream>
|
|
#include <sstream>
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#ifdef HAVE_BOOST_SERIALIZATION
|
|
#include <boost/archive/text_oarchive.hpp>
|
|
#include <boost/archive/text_iarchive.hpp>
|
|
#endif //HAVE_BOOST_SERIALIZATION
|
|
|
|
#include "Matrix.h"
|
|
#include "ConditionalGaussian.h"
|
|
|
|
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
/* untit test for equals */
|
|
/* ************************************************************************* */
|
|
TEST( ConditionalGaussian, equals )
|
|
{
|
|
// create a conditional gaussion node
|
|
Matrix A1(2,2);
|
|
A1(0,0) = 1 ; A1(1,0) = 2;
|
|
A1(0,1) = 3 ; A1(1,1) = 4;
|
|
|
|
Matrix A2(2,2);
|
|
A2(0,0) = 6 ; A2(1,0) = 0.2;
|
|
A2(0,1) = 8 ; A2(1,1) = 0.4;
|
|
|
|
Matrix R(2,2);
|
|
R(0,0) = 0.1 ; R(1,0) = 0.3;
|
|
R(0,1) = 0.0 ; R(1,1) = 0.34;
|
|
|
|
Vector d(2);
|
|
d(0) = 0.2; d(1) = 0.5;
|
|
|
|
ConditionalGaussian
|
|
expected(d, R, "x1", A1, "l1", A2),
|
|
actual(d, R, "x1", A1, "l1", A2);
|
|
|
|
CHECK( expected.equals(actual) );
|
|
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/* untit test for solve */
|
|
/* ************************************************************************* */
|
|
TEST( ConditionalGaussian, solve )
|
|
{
|
|
|
|
//expected solution
|
|
Vector expected(2);
|
|
expected(0) = 15.0471 ; expected(1) = -18.8824;
|
|
|
|
// create a conditional gaussion node
|
|
Matrix A1 = Matrix_(2,2, 1., 2.,
|
|
3., 4.);
|
|
|
|
Matrix A2 = Matrix_(2,2, 6., 0.2,
|
|
8., 0.4);
|
|
|
|
Matrix R = Matrix_(2,2, 0.1, 0.3,
|
|
0.0, 0.34);
|
|
|
|
Vector d(2);
|
|
d(0) = 0.2; d(1) = 0.5;
|
|
|
|
ConditionalGaussian cg(d, R, "x1", A1, "l1", A2);
|
|
|
|
Vector sx1(2);
|
|
sx1(0) = 0.2; sx1(1) = 0.5;
|
|
|
|
Vector sl1(2);
|
|
sl1(0) = 0.5; sl1(1) = 0.8;
|
|
|
|
FGConfig solution;
|
|
solution.insert("x1", sx1);
|
|
solution.insert("l1", sl1);
|
|
|
|
Vector result = cg.solve(solution);
|
|
|
|
CHECK( equal_with_abs_tol(expected , result, 0.0001));
|
|
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/* unit test for serialization */
|
|
/* ************************************************************************* */
|
|
#ifdef HAVE_BOOST_SERIALIZATION
|
|
TEST( ConditionalGaussian, serialize )
|
|
{
|
|
// // create a conditional gaussion node
|
|
// Matrix A1(2,2);
|
|
// A1(0,0) = 1 ; A1(1,0) = 2;
|
|
// A1(0,1) = 3 ; A1(1,1) = 4;
|
|
//
|
|
// Matrix A2(2,2);
|
|
// A2(0,0) = 6 ; A2(1,0) = 0.2;
|
|
// A2(0,1) = 8 ; A2(1,1) = 0.4;
|
|
//
|
|
// Matrix R(2,2);
|
|
// R(0,0) = 0.1 ; R(1,0) = 0.3;
|
|
// R(0,1) = 0.0 ; R(1,1) = 0.34;
|
|
//
|
|
// Vector d(2);
|
|
// d(0) = 0.2; d(1) = 0.5;
|
|
//
|
|
// ConditionalGaussian cg(d, R, "x1", A1, "l1", A2);
|
|
//
|
|
// //serialize the CG
|
|
// std::ostringstream in_archive_stream;
|
|
// boost::archive::text_oarchive in_archive(in_archive_stream);
|
|
// in_archive << cg;
|
|
// std::string serialized = in_archive_stream.str();
|
|
//
|
|
// //deserialize the CGg
|
|
// std::istringstream out_archive_stream(serialized);
|
|
// boost::archive::text_iarchive out_archive(out_archive_stream);
|
|
// ConditionalGaussian output;
|
|
// out_archive >> output;
|
|
//
|
|
// //check for equality
|
|
// CHECK(cg.equals(output));
|
|
|
|
}
|
|
#endif //HAVE_BOOST_SERIALIZATION
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|