94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
/**
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* @file testSymbolicFactorGraph.cpp
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* @brief Unit tests for a symbolic Factor Graph
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* @author Frank Dellaert
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*/
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#include <boost/assign/std/list.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/Ordering.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/SymbolicBayesNet.h>
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#include <gtsam/inference/FactorGraph-inl.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( SymbolicFactorGraph, eliminate2 )
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{
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// create a test graph
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SymbolicFactorGraph fg;
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fg.push_factor("x1", "x2");
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fg.eliminateOne("x1");
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SymbolicFactorGraph expected;
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expected.push_back(boost::shared_ptr<SymbolicFactor>());
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expected.push_factor("x2");
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CHECK(assert_equal(expected, fg));
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}
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/* ************************************************************************* */
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TEST( SymbolicFactorGraph, constructFromBayesNet )
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{
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// create expected factor graph
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SymbolicFactorGraph expected;
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expected.push_factor("l1","x1","x2");
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expected.push_factor("x1","l1");
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expected.push_factor("x1");
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// create Bayes Net
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SymbolicConditional::shared_ptr x2(new SymbolicConditional("x2", "l1", "x1"));
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SymbolicConditional::shared_ptr l1(new SymbolicConditional("l1", "x1"));
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SymbolicConditional::shared_ptr x1(new SymbolicConditional("x1"));
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SymbolicBayesNet bayesNet;
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bayesNet.push_back(x2);
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bayesNet.push_back(l1);
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bayesNet.push_back(x1);
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// create actual factor graph from a Bayes Net
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FactorGraph<SymbolicFactor> actual(bayesNet);
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CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected,actual));
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}
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/* ************************************************************************* */
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TEST( SymbolicFactorGraph, push_back )
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{
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// Create two factor graphs and expected combined graph
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SymbolicFactorGraph fg1, fg2, expected;
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fg1.push_factor("x1");
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fg1.push_factor("x1","x2");
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fg2.push_factor("l1","x1");
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fg2.push_factor("l1","x2");
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expected.push_factor("x1");
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expected.push_factor("x1","x2");
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expected.push_factor("l1","x1");
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expected.push_factor("l1","x2");
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// combine
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SymbolicFactorGraph actual = combine(fg1,fg2);
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CHECK(assert_equal(expected, actual));
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// combine using push_back
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fg1.push_back(fg2);
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CHECK(assert_equal(expected, fg1));
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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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