107 lines
3.5 KiB
C++
107 lines
3.5 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: nikai
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* Description:
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*/
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#include <iostream>
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#include <gtsam/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 <gtsam/inference/Ordering.h>
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#include <gtsam/linear/GaussianJunctionTree.h>
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#include <gtsam/slam/smallExample.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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/* ************************************************************************* *
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Bayes tree for smoother with "nested dissection" ordering:
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C1 x5 x6 x4
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C2 x3 x2 : x4
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C3 x1 : x2
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C4 x7 : x6
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/* ************************************************************************* */
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TEST( GaussianJunctionTree, constructor2 )
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{
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// create a graph
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GaussianFactorGraph fg = createSmoother(7);
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// create an ordering
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Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
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GaussianJunctionTree actual(fg, ordering);
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Ordering frontal1; frontal1 += "x5", "x6", "x4";
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Ordering frontal2; frontal2 += "x3", "x2";
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Ordering frontal3; frontal3 += "x1";
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Ordering frontal4; frontal4 += "x7";
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Unordered sep1;
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Unordered sep2; sep2 += "x4";
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Unordered sep3; sep3 += "x2";
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Unordered sep4; sep4 += "x6";
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CHECK(assert_equal(frontal1, actual.root()->frontal_));
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CHECK(assert_equal(sep1, actual.root()->separator_));
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LONGS_EQUAL(5, actual.root()->size());
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CHECK(assert_equal(frontal2, actual.root()->children_[0]->frontal_));
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CHECK(assert_equal(sep2, actual.root()->children_[0]->separator_));
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LONGS_EQUAL(4, actual.root()->children_[0]->size());
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CHECK(assert_equal(frontal3, actual.root()->children_[0]->children_[0]->frontal_));
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CHECK(assert_equal(sep3, actual.root()->children_[0]->children_[0]->separator_));
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LONGS_EQUAL(2, actual.root()->children_[0]->children_[0]->size());
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CHECK(assert_equal(frontal4, actual.root()->children_[1]->frontal_));
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CHECK(assert_equal(sep4, actual.root()->children_[1]->separator_));
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LONGS_EQUAL(2, actual.root()->children_[1]->size());
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}
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/* ************************************************************************* */
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TEST( GaussianJunctionTree, optimizeMultiFrontal )
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{
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// create a graph
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GaussianFactorGraph fg = createSmoother(7);
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// create an ordering
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Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
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// optimize the graph
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GaussianJunctionTree tree(fg, ordering);
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VectorConfig actual = tree.optimize();
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// verify
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VectorConfig expected; // expected solution
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Vector v = Vector_(2, 0., 0.);
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for (int i=1; i<=7; i++)
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expected.insert(symbol('x', i), v);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( GaussianJunctionTree, optimizeMultiFrontal2)
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{
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// create a graph
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Graph nlfg = createNonlinearFactorGraph();
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Config noisy = createNoisyConfig();
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GaussianFactorGraph fg = *nlfg.linearize(noisy);
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// optimize the graph
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Ordering ordering; ordering += "x1","x2","l1";
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GaussianJunctionTree tree(fg, ordering);
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VectorConfig actual = tree.optimize();
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// verify
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VectorConfig expected = createCorrectDelta(); // expected solution
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CHECK(assert_equal(expected,actual));
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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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