118 lines
4.2 KiB
C++
118 lines
4.2 KiB
C++
/**
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* @file testEliminationTree.cpp
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* @brief Unit tests for Elimination Tree
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* @author Kai Ni
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* @author Frank Dellaert
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*/
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// for operator +=
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#include <boost/assign/std/list.hpp>
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#include <boost/assign/std/map.hpp>
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#include <boost/make_shared.hpp>
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using namespace boost::assign;
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#include <gtsam/CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/ClusterTree-inl.h>
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#include <gtsam/inference/EliminationTree-inl.h>
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using namespace std;
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using namespace gtsam;
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using namespace boost;
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// explicit instantiation and typedef
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template class EliminationTree<SymbolicFactorGraph>;
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typedef EliminationTree<SymbolicFactorGraph> SymbolicEliminationTree;
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/* ************************************************************************* *
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* graph: f(1,2) f(1,3) f(2,5) f(3,5) f(4,5)
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* tree: x1 -> x2 -> x3 -> x5 <- x4 (arrow is parent pointer)
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****************************************************************************/
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//TEST( EliminationTree, constructor )
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//{
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// Ordering ordering; ordering += "x1","x2","x3","x4","x5";
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//
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// /** build expected tree using constructor variant 1 */
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// SymbolicEliminationTree::OrderedGraphs graphs;
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// SymbolicFactorGraph c1,c2,c3,c4,c5;
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// c1.push_factor("x1","x2"); c1.push_factor("x1","x3"); graphs += make_pair("x1",c1);
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// c2.push_factor("x2","x5"); graphs += make_pair("x2",c2);
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// c3.push_factor("x3","x5"); graphs += make_pair("x3",c3);
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// c4.push_factor("x4","x5"); graphs += make_pair("x4",c4);
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// graphs += make_pair("x5",c5);
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// SymbolicEliminationTree expected(graphs);
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//
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// /** build actual tree from factor graph (variant 2) */
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// SymbolicFactorGraph fg;
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// fg.push_factor("x1","x2");
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// fg.push_factor("x1","x3");
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// fg.push_factor("x2","x5");
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// fg.push_factor("x3","x5");
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// fg.push_factor("x4","x5");
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// SymbolicEliminationTree actual(fg, ordering);
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//// GTSAM_PRINT(actual);
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//
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// CHECK(assert_equal<SymbolicEliminationTree>(expected, actual));
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//}
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/* ************************************************************************* *
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* graph: f(1,2) f(1,3) f(2,5) f(3,5) f(4,5)
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* tree: x1 -> x2 -> x3 -> x5 <- x4 (arrow is parent pointer)
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****************************************************************************/
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TEST( EliminationTree, constructor )
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{
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varid_t x1=1, x2=2, x3=3, x4=4, x5=5;
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SymbolicFactorGraph fc1,fc2,fc3,fc4,fc5;
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fc1.push_factor(x1,x2); fc1.push_factor(x1,x3);
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list<varid_t> c1sep; c1sep += x2,x3;
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SymbolicEliminationTree::sharedNode c1(new SymbolicEliminationTree::Node(fc1, x1, c1sep.begin(), c1sep.end()));
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fc2.push_factor(x2,x5);
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list<varid_t> c2sep; c2sep += x3,x5;
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SymbolicEliminationTree::sharedNode c2(new SymbolicEliminationTree::Node(fc2, x2, c2sep.begin(), c2sep.end()));
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fc3.push_factor(x3,x5);
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list<varid_t> c3sep; c3sep += x5;
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SymbolicEliminationTree::sharedNode c3(new SymbolicEliminationTree::Node(fc3, x3, c3sep.begin(), c3sep.end()));
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fc4.push_factor(x4,x5);
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list<varid_t> c4sep; c4sep += x5;
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SymbolicEliminationTree::sharedNode c4(new SymbolicEliminationTree::Node(fc4, x4, c4sep.begin(), c4sep.end()));
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list<varid_t> c5sep;
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SymbolicEliminationTree::sharedNode c5(new SymbolicEliminationTree::Node(fc5, x5, c5sep.begin(), c5sep.end()));
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/** build expected tree using test accessor */
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SymbolicEliminationTree expected;
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_EliminationTreeTester<SymbolicFactorGraph> expected_(expected);
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expected_.nodes().resize(6);
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expected_.root() = c5; expected_.nodes()[x5]=c5;
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c5->addChild(c4); c4->parent()=c5; expected_.nodes()[x4]=c4;
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c5->addChild(c3); c3->parent()=c5; expected_.nodes()[x3]=c3;
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c3->addChild(c2); c2->parent()=c3; expected_.nodes()[x2]=c2;
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c2->addChild(c1); c1->parent()=c2; expected_.nodes()[x1]=c1;
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/** build actual tree from factor graph (variant 2) */
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SymbolicFactorGraph fg;
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fg.push_factor(x1,x2);
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fg.push_factor(x1,x3);
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fg.push_factor(x2,x5);
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fg.push_factor(x3,x5);
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fg.push_factor(x4,x5);
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SymbolicEliminationTree actual(fg);
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// GTSAM_PRINT(actual);
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CHECK(assert_equal<SymbolicEliminationTree>(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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