477 lines
14 KiB
C++
477 lines
14 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 testDiscreteFactorGraph.cpp
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* @date Feb 14, 2011
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* @author Duy-Nguyen Ta
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*/
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#include <gtsam/discrete/DiscreteFactor.h>
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#include <gtsam/discrete/DiscreteFactorGraph.h>
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#include <gtsam/discrete/DiscreteEliminationTree.h>
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#include <gtsam/discrete/DiscreteBayesTree.h>
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#include <gtsam/inference/BayesNet.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/std/map.hpp>
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using namespace boost::assign;
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST_UNSAFE(DiscreteFactorGraph, debugScheduler) {
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DiscreteKey PC(0, 4), ME(1, 4), AI(2, 4), A(3, 3);
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DiscreteFactorGraph graph;
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graph.add(AI, "1 0 0 1");
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graph.add(AI, "1 1 1 0");
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graph.add(A & AI, "1 1 1 0 1 1 1 1 0 1 1 1");
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graph.add(ME, "0 1 0 0");
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graph.add(ME, "1 1 1 0");
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graph.add(A & ME, "1 1 1 0 1 1 1 1 0 1 1 1");
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graph.add(PC, "1 0 1 0");
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graph.add(PC, "1 1 1 0");
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graph.add(A & PC, "1 1 1 0 1 1 1 1 0 1 1 1");
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graph.add(ME & AI, "0 1 1 1 1 0 1 1 1 1 0 1 1 1 1 0");
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graph.add(PC & ME, "0 1 1 1 1 0 1 1 1 1 0 1 1 1 1 0");
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graph.add(PC & AI, "0 1 1 1 1 0 1 1 1 1 0 1 1 1 1 0");
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// Check MPE.
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auto actualMPE = graph.optimize();
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DiscreteValues mpe;
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insert(mpe)(0, 2)(1, 1)(2, 0)(3, 0);
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EXPECT(assert_equal(mpe, actualMPE));
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}
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/* ************************************************************************* */
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/// Test the () operator of DiscreteFactorGraph
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TEST_UNSAFE( DiscreteFactorGraph, DiscreteFactorGraphEvaluationTest) {
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// Three keys P1 and P2
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DiscreteKey P1(0,2), P2(1,2), P3(2,3);
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// Create the DiscreteFactorGraph
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DiscreteFactorGraph graph;
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graph.add(P1, "0.9 0.3");
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graph.add(P2, "0.9 0.6");
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graph.add(P1 & P2, "4 1 10 4");
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// Instantiate DiscreteValues
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DiscreteValues values;
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values[0] = 1;
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values[1] = 1;
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// Check if graph evaluation works ( 0.3*0.6*4 )
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EXPECT_DOUBLES_EQUAL( .72, graph(values), 1e-9);
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// Creating a new test with third node and adding unary and ternary factors on it
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graph.add(P3, "0.9 0.2 0.5");
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graph.add(P1 & P2 & P3, "1 2 3 4 5 6 7 8 9 10 11 12");
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// Below values lead to selecting the 8th index in the ternary factor table
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values[0] = 1;
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values[1] = 0;
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values[2] = 1;
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// Check if graph evaluation works (0.3*0.9*1*0.2*8)
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EXPECT_DOUBLES_EQUAL( 4.32, graph(values), 1e-9);
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// Below values lead to selecting the 3rd index in the ternary factor table
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values[0] = 0;
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values[1] = 1;
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values[2] = 0;
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// Check if graph evaluation works (0.9*0.6*1*0.9*4)
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EXPECT_DOUBLES_EQUAL( 1.944, graph(values), 1e-9);
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// Check if graph product works
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DecisionTreeFactor product = graph.product();
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EXPECT_DOUBLES_EQUAL( 1.944, product(values), 1e-9);
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}
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, test) {
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// Declare keys and ordering
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DiscreteKey C(0, 2), B(1, 2), A(2, 2);
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// A simple factor graph (A)-fAC-(C)-fBC-(B)
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// with smoothness priors
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DiscreteFactorGraph graph;
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graph.add(A & C, "3 1 1 3");
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graph.add(C & B, "3 1 1 3");
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// Test EliminateDiscrete
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Ordering frontalKeys;
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frontalKeys += Key(0);
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DiscreteConditional::shared_ptr conditional;
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DecisionTreeFactor::shared_ptr newFactor;
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boost::tie(conditional, newFactor) = EliminateDiscrete(graph, frontalKeys);
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// Check Conditional
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CHECK(conditional);
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Signature signature((C | B, A) = "9/1 1/1 1/1 1/9");
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DiscreteConditional expectedConditional(signature);
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EXPECT(assert_equal(expectedConditional, *conditional));
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// Check Factor
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CHECK(newFactor);
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DecisionTreeFactor expectedFactor(B & A, "10 6 6 10");
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EXPECT(assert_equal(expectedFactor, *newFactor));
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// Test using elimination tree
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Ordering ordering;
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ordering += Key(0), Key(1), Key(2);
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DiscreteEliminationTree etree(graph, ordering);
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DiscreteBayesNet::shared_ptr actual;
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DiscreteFactorGraph::shared_ptr remainingGraph;
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boost::tie(actual, remainingGraph) = etree.eliminate(&EliminateDiscrete);
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// Check Bayes net
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DiscreteBayesNet expectedBayesNet;
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expectedBayesNet.add(signature);
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expectedBayesNet.add(B | A = "5/3 3/5");
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expectedBayesNet.add(A % "1/1");
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EXPECT(assert_equal(expectedBayesNet, *actual));
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// Test eliminateSequential
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DiscreteBayesNet::shared_ptr actual2 = graph.eliminateSequential(ordering);
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EXPECT(assert_equal(expectedBayesNet, *actual2));
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// Test mpe
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DiscreteValues mpe;
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insert(mpe)(0, 0)(1, 0)(2, 0);
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auto actualMPE = graph.optimize();
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EXPECT(assert_equal(mpe, actualMPE));
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EXPECT_DOUBLES_EQUAL(9, graph(mpe), 1e-5); // regression
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// Test sumProduct alias with all orderings:
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auto mpeProbability = expectedBayesNet(mpe);
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EXPECT_DOUBLES_EQUAL(0.28125, mpeProbability, 1e-5); // regression
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// Using custom ordering
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DiscreteBayesNet bayesNet = graph.sumProduct(ordering);
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EXPECT_DOUBLES_EQUAL(mpeProbability, bayesNet(mpe), 1e-5);
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for (Ordering::OrderingType orderingType :
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{Ordering::COLAMD, Ordering::METIS, Ordering::NATURAL,
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Ordering::CUSTOM}) {
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auto bayesNet = graph.sumProduct(orderingType);
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EXPECT_DOUBLES_EQUAL(mpeProbability, bayesNet(mpe), 1e-5);
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}
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}
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/* ************************************************************************* */
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TEST_UNSAFE(DiscreteFactorGraph, testMaxProduct) {
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// Declare a bunch of keys
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DiscreteKey C(0, 2), A(1, 2), B(2, 2);
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// Create Factor graph
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DiscreteFactorGraph graph;
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graph.add(C & A, "0.2 0.8 0.3 0.7");
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graph.add(C & B, "0.1 0.9 0.4 0.6");
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// Created expected MPE
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DiscreteValues mpe;
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insert(mpe)(0, 0)(1, 1)(2, 1);
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// Do max-product with different orderings
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for (Ordering::OrderingType orderingType :
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{Ordering::COLAMD, Ordering::METIS, Ordering::NATURAL,
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Ordering::CUSTOM}) {
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DiscreteLookupDAG dag = graph.maxProduct(orderingType);
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auto actualMPE = dag.argmax();
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EXPECT(assert_equal(mpe, actualMPE));
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auto actualMPE2 = graph.optimize(); // all in one
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EXPECT(assert_equal(mpe, actualMPE2));
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}
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}
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, marginalIsNotMPE) {
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// Declare 2 keys
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DiscreteKey A(0, 2), B(1, 2);
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// Create Bayes net such that marginal on A is bigger for 0 than 1, but the
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// MPE does not have A=0.
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DiscreteBayesNet bayesNet;
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bayesNet.add(B | A = "1/1 1/2");
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bayesNet.add(A % "10/9");
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// The expected MPE is A=1, B=1
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DiscreteValues mpe;
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insert(mpe)(0, 1)(1, 1);
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// Which we verify using max-product:
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DiscreteFactorGraph graph(bayesNet);
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auto actualMPE = graph.optimize();
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EXPECT(assert_equal(mpe, actualMPE));
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EXPECT_DOUBLES_EQUAL(0.315789, graph(mpe), 1e-5); // regression
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
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// Optimize on BayesNet maximizes marginal, then the conditional marginals:
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auto notOptimal = bayesNet.optimize();
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EXPECT(graph(notOptimal) < graph(mpe));
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EXPECT_DOUBLES_EQUAL(0.263158, graph(notOptimal), 1e-5); // regression
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#endif
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}
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, testMPE_Darwiche09book_p244) {
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// The factor graph in Darwiche09book, page 244
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DiscreteKey A(4, 2), C(3, 2), S(2, 2), T1(0, 2), T2(1, 2);
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// Create Factor graph
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DiscreteFactorGraph graph;
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graph.add(S, "0.55 0.45");
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graph.add(S & C, "0.05 0.95 0.01 0.99");
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graph.add(C & T1, "0.80 0.20 0.20 0.80");
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graph.add(S & C & T2, "0.80 0.20 0.20 0.80 0.95 0.05 0.05 0.95");
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graph.add(T1 & T2 & A, "1 0 0 1 0 1 1 0");
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graph.add(A, "1 0"); // evidence, A = yes (first choice in Darwiche)
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DiscreteValues mpe;
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insert(mpe)(4, 0)(2, 1)(3, 1)(0, 1)(1, 1);
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EXPECT_DOUBLES_EQUAL(0.33858, graph(mpe), 1e-5); // regression
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// You can check visually by printing product:
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// graph.product().print("Darwiche-product");
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// Check MPE.
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auto actualMPE = graph.optimize();
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EXPECT(assert_equal(mpe, actualMPE));
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// Check Bayes Net
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Ordering ordering;
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ordering += Key(0), Key(1), Key(2), Key(3), Key(4);
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auto chordal = graph.eliminateSequential(ordering);
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EXPECT_LONGS_EQUAL(5, chordal->size());
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
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auto notOptimal = chordal->optimize(); // not MPE !
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EXPECT(graph(notOptimal) < graph(mpe));
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#endif
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// Let us create the Bayes tree here, just for fun, because we don't use it
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DiscreteBayesTree::shared_ptr bayesTree =
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graph.eliminateMultifrontal(ordering);
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// bayesTree->print("Bayes Tree");
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EXPECT_LONGS_EQUAL(2, bayesTree->size());
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}
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#ifdef OLD
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/* ************************************************************************* */
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/**
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* Key type for discrete conditionals
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* Includes name and cardinality
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*/
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class Key2 {
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private:
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std::string wff_;
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size_t cardinality_;
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public:
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/** Constructor, defaults to binary */
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Key2(const std::string& name, size_t cardinality = 2) :
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wff_(name), cardinality_(cardinality) {
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}
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const std::string& name() const {
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return wff_;
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}
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/** provide streaming */
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friend std::ostream& operator <<(std::ostream &os, const Key2 &key);
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};
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struct Factor2 {
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std::string wff_;
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Factor2() :
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wff_("@") {
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}
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Factor2(const std::string& s) :
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wff_(s) {
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}
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Factor2(const Key2& key) :
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wff_(key.name()) {
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}
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friend std::ostream& operator <<(std::ostream &os, const Factor2 &f);
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friend Factor2 operator -(const Key2& key);
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};
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std::ostream& operator <<(std::ostream &os, const Factor2 &f) {
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os << f.wff_;
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return os;
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}
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/** negation */
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Factor2 operator -(const Key2& key) {
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return Factor2("-" + key.name());
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}
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/** OR */
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Factor2 operator ||(const Factor2 &factor1, const Factor2 &factor2) {
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return Factor2(std::string("(") + factor1.wff_ + " || " + factor2.wff_ + ")");
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}
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/** AND */
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Factor2 operator &&(const Factor2 &factor1, const Factor2 &factor2) {
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return Factor2(std::string("(") + factor1.wff_ + " && " + factor2.wff_ + ")");
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}
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/** implies */
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Factor2 operator >>(const Factor2 &factor1, const Factor2 &factor2) {
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return Factor2(std::string("(") + factor1.wff_ + " >> " + factor2.wff_ + ")");
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}
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struct Graph2: public std::list<Factor2> {
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/** Add a factor graph*/
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// void operator +=(const Graph2& graph) {
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// for(const Factor2& f: graph)
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// push_back(f);
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// }
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friend std::ostream& operator <<(std::ostream &os, const Graph2& graph);
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};
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/** Add a factor */
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//Graph2 operator +=(Graph2& graph, const Factor2& factor) {
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// graph.push_back(factor);
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// return graph;
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//}
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std::ostream& operator <<(std::ostream &os, const Graph2& graph) {
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for(const Factor2& f: graph)
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os << f << endl;
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return os;
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}
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, Sugar)
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{
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Key2 M("Mythical"), I("Immortal"), A("Mammal"), H("Horned"), G("Magical");
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// Test this desired construction
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Graph2 unicorns;
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unicorns += M >> -A;
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unicorns += (-M) >> (-I && A);
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unicorns += (I || A) >> H;
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unicorns += H >> G;
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// should be done by adapting boost::assign:
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// unicorns += (-M) >> (-I && A), (I || A) >> H , H >> G;
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cout << unicorns;
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}
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#endif
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, Dot) {
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// Create Factor graph
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DiscreteFactorGraph graph;
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DiscreteKey C(0, 2), A(1, 2), B(2, 2);
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graph.add(C & A, "0.2 0.8 0.3 0.7");
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graph.add(C & B, "0.1 0.9 0.4 0.6");
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string actual = graph.dot();
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string expected =
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"graph {\n"
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" size=\"5,5\";\n"
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"\n"
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" var0[label=\"0\"];\n"
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" var1[label=\"1\"];\n"
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" var2[label=\"2\"];\n"
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"\n"
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" factor0[label=\"\", shape=point];\n"
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" var0--factor0;\n"
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" var1--factor0;\n"
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" factor1[label=\"\", shape=point];\n"
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" var0--factor1;\n"
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" var2--factor1;\n"
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"}\n";
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EXPECT(actual == expected);
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}
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/* ************************************************************************* */
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TEST(DiscreteFactorGraph, DotWithNames) {
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// Create Factor graph
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DiscreteFactorGraph graph;
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DiscreteKey C(0, 2), A(1, 2), B(2, 2);
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graph.add(C & A, "0.2 0.8 0.3 0.7");
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graph.add(C & B, "0.1 0.9 0.4 0.6");
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vector<string> names{"C", "A", "B"};
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auto formatter = [names](Key key) { return names[key]; };
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string actual = graph.dot(formatter);
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string expected =
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"graph {\n"
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" size=\"5,5\";\n"
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"\n"
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" var0[label=\"C\"];\n"
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" var1[label=\"A\"];\n"
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" var2[label=\"B\"];\n"
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"\n"
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" factor0[label=\"\", shape=point];\n"
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" var0--factor0;\n"
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" var1--factor0;\n"
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" factor1[label=\"\", shape=point];\n"
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" var0--factor1;\n"
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" var2--factor1;\n"
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"}\n";
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EXPECT(actual == expected);
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}
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/* ************************************************************************* */
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// Check markdown representation looks as expected.
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TEST(DiscreteFactorGraph, markdown) {
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// Create Factor graph
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DiscreteFactorGraph graph;
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DiscreteKey C(0, 2), A(1, 2), B(2, 2);
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graph.add(C & A, "0.2 0.8 0.3 0.7");
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graph.add(C & B, "0.1 0.9 0.4 0.6");
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string expected =
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"`DiscreteFactorGraph` of size 2\n"
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"\n"
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"factor 0:\n"
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"|C|A|value|\n"
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"|:-:|:-:|:-:|\n"
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"|0|0|0.2|\n"
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"|0|1|0.8|\n"
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"|1|0|0.3|\n"
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"|1|1|0.7|\n"
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"\n"
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"factor 1:\n"
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"|C|B|value|\n"
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"|:-:|:-:|:-:|\n"
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"|0|0|0.1|\n"
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"|0|1|0.9|\n"
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"|1|0|0.4|\n"
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"|1|1|0.6|\n\n";
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vector<string> names{"C", "A", "B"};
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auto formatter = [names](Key key) { return names[key]; };
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string actual = graph.markdown(formatter);
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EXPECT(actual == expected);
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// Make sure values are correctly displayed.
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DiscreteValues values;
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values[0] = 1;
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values[1] = 0;
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EXPECT_DOUBLES_EQUAL(0.3, graph[0]->operator()(values), 1e-9);
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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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