gtsam/cpp/testIncremental.cpp

79 lines
2.1 KiB
C++

/**
* @file testIncremental.cpp
* @brief Unit tests for graph-based iSAM
* @author Michael Kaess
*/
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include "SymbolicBayesNet.h"
#include "SymbolicFactor.h"
#include "GaussianBayesNet.h"
#include "Ordering.h"
#include "BayesTree-inl.h"
#include "smallExample.h"
using namespace gtsam;
typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
typedef BayesTree<GaussianConditional> GaussianBayesTree;
// Conditionals for ASIA example from the tutorial with A and D evidence
SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
new SymbolicConditional("L", "B")), E(
new SymbolicConditional("E", "L", "B")), S(new SymbolicConditional("S",
"L", "B")), T(new SymbolicConditional("T", "E", "L")), X(
new SymbolicConditional("X", "E"));
/* ************************************************************************* */
SymbolicBayesTree update(const SymbolicBayesTree& initial, const SymbolicFactor& newFactor) {
return initial;
}
/* ************************************************************************* */
TEST( BayesTree, iSAM )
{
// Create using insert
SymbolicBayesTree bayesTree;
bayesTree.insert(B);
bayesTree.insert(L);
bayesTree.insert(E);
bayesTree.insert(S);
bayesTree.insert(T);
bayesTree.insert(X);
//bayesTree.print("bayesTree");
// Create expected Bayes tree
SymbolicBayesTree expected;
expected.insert(B);
expected.insert(L);
expected.insert(S);
expected.insert(E);
expected.insert(T);
expected.insert(X);
//expected.print("expected");
// create a new factor to be inserted
list<string> keys;
keys += "B","S";
SymbolicFactor newFactor(keys);
// do incremental inference
SymbolicBayesTree actual = update(bayesTree, newFactor);
// Check whether the same
//CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */