74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
/**
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* @file timeGaussianFactorGraph.cpp
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* @brief Time elimination with simple Kalman Smoothing example
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* @author Frank Dellaert
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*/
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#define GTSAM_MAGIC_KEY
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#include <time.h>
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#include <CppUnitLite/TestHarness.h>
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#include "smallExample.h"
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#include "Ordering.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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// Create a Kalman smoother for t=1:T and optimize
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double timeKalmanSmoother(int T) {
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GaussianFactorGraph smoother = createSmoother(T);
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Ordering ordering;
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for (int t = 1; t <= T; t++) ordering.push_back(symbol('x',t));
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clock_t start = clock();
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smoother.optimize(ordering);
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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/* ************************************************************************* */
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// Create a planar factor graph and optimize
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double timePlanarSmoother(int N) {
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GaussianFactorGraph fg;
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VectorConfig config;
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boost::tie(fg,config) = planarGraph(N);
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Ordering ordering = fg.getOrdering();
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clock_t start = clock();
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fg.optimize(ordering);
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, linearTime)
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{
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int T = 1000;
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double time1 = timeKalmanSmoother( T); cout << time1 << endl;
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double time2 = timeKalmanSmoother(2*T); cout << time2 << endl;
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DOUBLES_EQUAL(2*time1,time2,0.1);
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}
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/* ************************************************************************* */
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TEST(timeGaussianFactorGraph, planar)
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{
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// 1741: 8.12, 8.12, 8.12, 8.14, 8.16
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// 1742: 5.97, 5.97, 5.97, 5.99, 6.02
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// 1746: 5.96, 5.96, 5.97, 6.00, 6.04
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// 1748: 5.91, 5.92, 5.93, 5.95, 5.96
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// 1839: 0.206956 0.206939 0.206213 0.206092 0.206780 // colamd !!!!
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int N = 30;
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double time = timePlanarSmoother(N); cout << time << endl;
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DOUBLES_EQUAL(5.97,time,0.1);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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TestRegistry::runAllTests(tr);
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return 0;
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}
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/* ************************************************************************* */
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