91 lines
2.5 KiB
C++
91 lines
2.5 KiB
C++
/**
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* @file testFactorgraph.cpp
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* @brief Unit tests for Factor Graphs
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* @author Christian Potthast
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**/
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/*STL/C++*/
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#include <list>
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/tuple/tuple.hpp>
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#include <boost/assign/std/set.hpp> // for operator +=
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using namespace boost::assign;
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#include <gtsam/CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include <gtsam/inference/SymbolicFactorGraph.h>
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using namespace std;
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using namespace gtsam;
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typedef boost::shared_ptr<SymbolicFactorGraph> shared;
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/* ************************************************************************* */
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TEST( FactorGraph, splitMinimumSpanningTree )
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{
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SymbolicFactorGraph G;
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G.push_factor("x1", "x2");
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G.push_factor("x1", "x3");
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G.push_factor("x1", "x4");
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G.push_factor("x2", "x3");
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G.push_factor("x2", "x4");
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G.push_factor("x3", "x4");
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SymbolicFactorGraph T, C;
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boost::tie(T, C) = G.splitMinimumSpanningTree();
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SymbolicFactorGraph expectedT, expectedC;
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expectedT.push_factor("x1", "x2");
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expectedT.push_factor("x1", "x3");
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expectedT.push_factor("x1", "x4");
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expectedC.push_factor("x2", "x3");
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expectedC.push_factor("x2", "x4");
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expectedC.push_factor("x3", "x4");
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CHECK(assert_equal(expectedT,T));
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CHECK(assert_equal(expectedC,C));
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}
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/* ************************************************************************* */
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/**
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* x1 - x2 - x3 - x4 - x5
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* | | / |
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* l1 l2 l3
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*/
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TEST( FactorGraph, removeSingletons )
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{
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SymbolicFactorGraph G;
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G.push_factor("x1", "x2");
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G.push_factor("x2", "x3");
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G.push_factor("x3", "x4");
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G.push_factor("x4", "x5");
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G.push_factor("x2", "l1");
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G.push_factor("x3", "l2");
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G.push_factor("x4", "l2");
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G.push_factor("x4", "l3");
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SymbolicFactorGraph singletonGraph;
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set<Symbol> singletons;
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boost::tie(singletonGraph, singletons) = G.removeSingletons();
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set<Symbol> singletons_excepted; singletons_excepted += "x1", "x2", "x5", "l1", "l3";
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CHECK(singletons_excepted == singletons);
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SymbolicFactorGraph singletonGraph_excepted;
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singletonGraph_excepted.push_factor("x2", "l1");
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singletonGraph_excepted.push_factor("x4", "l3");
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singletonGraph_excepted.push_factor("x1", "x2");
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singletonGraph_excepted.push_factor("x4", "x5");
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singletonGraph_excepted.push_factor("x2", "x3");
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CHECK(singletonGraph_excepted.equals(singletonGraph));
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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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