69 lines
2.2 KiB
Python
69 lines
2.2 KiB
Python
"""
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GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Unit tests for Hybrid Values.
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Author: Frank Dellaert
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"""
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# pylint: disable=invalid-name, no-name-in-module, no-member
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import unittest
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import numpy as np
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from gtsam.symbol_shorthand import A, X
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from gtsam.utils.test_case import GtsamTestCase
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import gtsam
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from gtsam import (DiscreteKeys, GaussianConditional, GaussianMixture,
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HybridBayesNet, HybridValues, noiseModel)
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class TestHybridBayesNet(GtsamTestCase):
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"""Unit tests for HybridValues."""
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def test_evaluate(self):
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"""Test evaluate for a hybrid Bayes net P(X0|X1) P(X1|Asia) P(Asia)."""
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asiaKey = A(0)
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Asia = (asiaKey, 2)
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# Create the continuous conditional
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I_1x1 = np.eye(1)
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gc = GaussianConditional.FromMeanAndStddev(X(0), 2 * I_1x1, X(1), [-4],
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5.0)
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# Create the noise models
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model0 = noiseModel.Diagonal.Sigmas([2.0])
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model1 = noiseModel.Diagonal.Sigmas([3.0])
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# Create the conditionals
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conditional0 = GaussianConditional(X(1), [5], I_1x1, model0)
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conditional1 = GaussianConditional(X(1), [2], I_1x1, model1)
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dkeys = DiscreteKeys()
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dkeys.push_back(Asia)
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gm = GaussianMixture([X(1)], [], dkeys, [conditional0, conditional1])
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# Create hybrid Bayes net.
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bayesNet = HybridBayesNet()
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bayesNet.addGaussian(gc)
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bayesNet.addMixture(gm)
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bayesNet.emplaceDiscrete(Asia, "99/1")
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# Create values at which to evaluate.
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values = HybridValues()
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values.insert(asiaKey, 0)
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values.insert(X(0), [-6])
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values.insert(X(1), [1])
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conditionalProbability = gc.evaluate(values.continuous())
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mixtureProbability = conditional0.evaluate(values.continuous())
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self.assertAlmostEqual(conditionalProbability * mixtureProbability *
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0.99,
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bayesNet.evaluate(values),
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places=5)
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if __name__ == "__main__":
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unittest.main()
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