71 lines
2.5 KiB
C++
71 lines
2.5 KiB
C++
/*
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* testGaussianJunctionTree.cpp
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*
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* Created on: Jul 8, 2010
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* @author Kai Ni
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*/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <boost/assign/std/set.hpp> // for operator +=
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using namespace boost::assign;
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#define GTSAM_MAGIC_KEY
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#include "Ordering.h"
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#include "GaussianJunctionTree.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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/**
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* x1 - x2 - x3 - x4
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* x3 x4
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* x2 x1 : x3
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*
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* x2 x1 x3 x4 b
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* 1 1 1
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* 1 1 1
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* 1 1 1
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* 1 1
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*
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* 1 0 0 1
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*/
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TEST( GaussianJunctionTree, eliminate )
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{
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typedef GaussianFactorGraph::sharedFactor Factor;
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SharedDiagonal model(Vector_(1, 0.5));
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Factor factor1(new GaussianFactor("x1", Matrix_(1,1,1.), "x2", Matrix_(1,1,1.), Vector_(1,1.), model));
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Factor factor2(new GaussianFactor("x2", Matrix_(1,1,1.), "x3", Matrix_(1,1,1.), Vector_(1,1.), model));
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Factor factor3(new GaussianFactor("x3", Matrix_(1,1,1.), "x4", Matrix_(1,1,1.), Vector_(1,1.), model));
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Factor factor4(new GaussianFactor("x4", Matrix_(1,1,1.), Vector_(1,1.), model));
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GaussianFactorGraph fg;
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fg.push_back(factor1);
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fg.push_back(factor2);
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fg.push_back(factor3);
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fg.push_back(factor4);
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Ordering ordering; ordering += "x2","x1","x3","x4";
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GaussianJunctionTree junctionTree(fg, ordering);
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BayesTree<GaussianConditional> bayesTree = junctionTree.eliminate<GaussianConditional>();
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typedef BayesTree<GaussianConditional>::sharedConditional sharedConditional;
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Matrix two = Matrix_(1,1,2.);
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Matrix one = Matrix_(1,1,1.);
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BayesTree<GaussianConditional> bayesTree_expected;
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bayesTree_expected.insert(sharedConditional(new GaussianConditional("x4", Vector_(1,2.), two, Vector_(1,1.))), ordering);
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bayesTree_expected.insert(sharedConditional(new GaussianConditional("x3", Vector_(1,2.), two, "x4", two, Vector_(1,1.))), ordering);
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bayesTree_expected.insert(sharedConditional(new GaussianConditional("x1", Vector_(1,0.), one*(-1), "x3", one, Vector_(1,1.))), ordering);
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bayesTree_expected.insert(sharedConditional(new GaussianConditional("x2", Vector_(1,2.), two, "x1", one, "x3", one, Vector_(1,1.))), ordering);
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CHECK(assert_equal(bayesTree_expected, bayesTree));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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