65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/**
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* @file testEliminationTree.cpp
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* @brief Unit tests for Elimination Tree
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* @author Kai Ni
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* @author Frank Dellaert
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*/
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// for operator +=
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#include <boost/assign/std/list.hpp>
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#include <boost/assign/std/map.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include "SymbolicFactorGraph.h"
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#include "ClusterTree-inl.h"
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#include "EliminationTree-inl.h"
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using namespace std;
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using namespace gtsam;
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// explicit instantiation and typedef
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template class EliminationTree<SymbolicFactorGraph>;
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typedef EliminationTree<SymbolicFactorGraph> SymbolicEliminationTree;
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/* ************************************************************************* *
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* graph: f(1,2) f(1,3) f(2,5) f(3,5) f(4,5)
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* tree: x1 -> x2 -> x3 -> x5 <- x4 (arrow is parent pointer)
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****************************************************************************/
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TEST( EliminationTree, constructor )
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{
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Ordering ordering; ordering += "x1","x2","x3","x4","x5";
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/** build expected tree using constructor variant 1 */
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SymbolicEliminationTree::OrderedGraphs graphs;
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SymbolicFactorGraph c1,c2,c3,c4,c5;
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c1.push_factor("x1","x2"); c1.push_factor("x1","x3"); graphs += make_pair("x1",c1);
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c2.push_factor("x2","x5"); graphs += make_pair("x2",c2);
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c3.push_factor("x3","x5"); graphs += make_pair("x3",c3);
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c4.push_factor("x4","x5"); graphs += make_pair("x4",c4);
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graphs += make_pair("x5",c5);
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SymbolicEliminationTree expected(graphs);
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/** build actual tree from factor graph (variant 2) */
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SymbolicFactorGraph fg;
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fg.push_factor("x1","x2");
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fg.push_factor("x1","x3");
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fg.push_factor("x2","x5");
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fg.push_factor("x3","x5");
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fg.push_factor("x4","x5");
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SymbolicEliminationTree actual(fg, ordering);
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// GTSAM_PRINT(actual);
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CHECK(assert_equal<SymbolicEliminationTree>(expected, actual));
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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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