80 lines
2.6 KiB
C++
80 lines
2.6 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 testSymbolicBayesNetB.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/assign/list_inserter.hpp> // for 'insert()'
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <tests/smallExample.h>
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#include <gtsam/inference/SymbolicFactorGraphOrdered.h>
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#include <gtsam/inference/SymbolicSequentialSolverOrdered.h>
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#include <gtsam/nonlinear/OrderingOrdered.h>
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#include <gtsam/nonlinear/Symbol.h>
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using namespace std;
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using namespace gtsam;
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using namespace example;
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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/* ************************************************************************* */
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TEST( SymbolicBayesNetOrdered, constructor )
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{
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OrderingOrdered o; o += X(2),L(1),X(1);
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// Create manually
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IndexConditionalOrdered::shared_ptr
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x2(new IndexConditionalOrdered(o[X(2)],o[L(1)], o[X(1)])),
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l1(new IndexConditionalOrdered(o[L(1)],o[X(1)])),
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x1(new IndexConditionalOrdered(o[X(1)]));
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BayesNetOrdered<IndexConditionalOrdered> expected;
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expected.push_back(x2);
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expected.push_back(l1);
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expected.push_back(x1);
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// Create from a factor graph
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GaussianFactorGraphOrdered factorGraph = createGaussianFactorGraph(o);
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SymbolicFactorGraphOrdered fg(factorGraph);
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// eliminate it
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SymbolicBayesNetOrdered 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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TEST( SymbolicBayesNetOrdered, FromGaussian) {
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SymbolicBayesNetOrdered expected;
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expected.push_back(IndexConditionalOrdered::shared_ptr(new IndexConditionalOrdered(0, 1)));
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expected.push_back(IndexConditionalOrdered::shared_ptr(new IndexConditionalOrdered(1)));
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GaussianBayesNetOrdered gbn = createSmallGaussianBayesNet();
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SymbolicBayesNetOrdered actual(gbn);
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EXPECT(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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