103 lines
2.9 KiB
C++
103 lines
2.9 KiB
C++
/**
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* @file testEliminationTree.cpp
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* @brief
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* @author Richard Roberts
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* @created Oct 14, 2010
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/inference/EliminationTree-inl.h>
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#include <gtsam/inference/SymbolicSequentialSolver.h>
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using namespace gtsam;
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using namespace std;
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struct EliminationTreeTester {
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// build hardcoded tree
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static SymbolicEliminationTree::shared_ptr buildHardcodedTree(const SymbolicFactorGraph& fg) {
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SymbolicEliminationTree::shared_ptr leaf0(new SymbolicEliminationTree);
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leaf0->add(fg[0]);
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leaf0->add(fg[1]);
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SymbolicEliminationTree::shared_ptr node1(new SymbolicEliminationTree(1));
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node1->add(fg[2]);
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node1->add(leaf0);
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SymbolicEliminationTree::shared_ptr node2(new SymbolicEliminationTree(2));
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node2->add(fg[3]);
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node2->add(node1);
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SymbolicEliminationTree::shared_ptr leaf3(new SymbolicEliminationTree(3));
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leaf3->add(fg[4]);
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SymbolicEliminationTree::shared_ptr etree(new SymbolicEliminationTree(4));
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etree->add(leaf3);
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etree->add(node2);
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return etree;
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}
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};
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TEST(EliminationTree, Create)
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{
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// create example factor graph
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SymbolicFactorGraph fg;
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fg.push_factor(0, 1);
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fg.push_factor(0, 2);
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fg.push_factor(1, 4);
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fg.push_factor(2, 4);
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fg.push_factor(3, 4);
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SymbolicEliminationTree::shared_ptr expected = EliminationTreeTester::buildHardcodedTree(fg);
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// Build from factor graph
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SymbolicEliminationTree::shared_ptr actual = SymbolicEliminationTree::Create(fg);
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CHECK(assert_equal(*expected,*actual));
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}
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/* ************************************************************************* */
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// Test to drive elimination tree development
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// graph: f(0,1) f(0,2) f(1,4) f(2,4) f(3,4)
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/* ************************************************************************* */
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TEST(EliminationTree, eliminate )
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{
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// create expected Chordal bayes Net
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IndexConditional::shared_ptr c0(new IndexConditional(0, 1, 2));
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IndexConditional::shared_ptr c1(new IndexConditional(1, 2, 4));
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IndexConditional::shared_ptr c2(new IndexConditional(2, 4));
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IndexConditional::shared_ptr c3(new IndexConditional(3, 4));
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IndexConditional::shared_ptr c4(new IndexConditional(4));
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SymbolicBayesNet expected;
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expected.push_back(c0);
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expected.push_back(c1);
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expected.push_back(c2);
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expected.push_back(c3);
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expected.push_back(c4);
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// Create factor graph
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SymbolicFactorGraph fg;
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fg.push_factor(0, 1);
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fg.push_factor(0, 2);
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fg.push_factor(1, 4);
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fg.push_factor(2, 4);
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fg.push_factor(3, 4);
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// eliminate
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SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate();
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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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