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gtsam/tests/testSymbolicFactorGraph.cpp

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prepend license information on all the codes
2010-10-14 12:54:38 +08:00
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
/**
* @file testSymbolicFactorGraph.cpp
* @brief Unit tests for a symbolic Factor Graph
* @author Frank Dellaert
*/
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
2010-10-26 04:10:33 +08:00
#include <CppUnitLite/TestHarness.h>
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
Commented use of GTSAM_MAGIC_KEY
2011-08-18 21:18:26 +08:00
// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
#define GTSAM_MAGIC_KEY
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-20 01:23:19 +08:00
#include <gtsam/slam/smallExample.h>
#include <gtsam/inference/SymbolicFactorGraph.h>
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
#include <gtsam/inference/BayesNet-inl.h>
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-20 01:23:19 +08:00
#include <gtsam/inference/FactorGraph-inl.h>
New linear solver interface, global inference functions removed.
2010-10-22 06:59:54 +08:00
#include <gtsam/inference/SymbolicSequentialSolver.h>
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
#include <gtsam/nonlinear/Ordering.h>
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
using namespace std;
using namespace gtsam;
using namespace example;
/* ************************************************************************* */
TEST( SymbolicFactorGraph, symbolicFactorGraph )
{
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
Ordering o; o += "x1","l1","x2";
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
// construct expected symbolic graph
SymbolicFactorGraph expected;
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
expected.push_factor(o["x1"]);
expected.push_factor(o["x1"],o["x2"]);
expected.push_factor(o["x1"],o["l1"]);
Removed key sorting from NonlinearFactor
2011-06-04 22:54:27 +08:00
expected.push_factor(o["x2"],o["l1"]);
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
// construct it from the factor graph
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
SymbolicFactorGraph actual(factorGraph);
CHECK(assert_equal(expected, actual));
}
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
///* ************************************************************************* */
//TEST( SymbolicFactorGraph, findAndRemoveFactors )
//{
// // construct it from the factor graph graph
// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
// SymbolicFactorGraph actual(factorGraph);
// SymbolicFactor::shared_ptr f1 = actual[0];
// SymbolicFactor::shared_ptr f3 = actual[2];
// actual.findAndRemoveFactors("x2");
//
// // construct expected graph after find_factors_and_remove
// SymbolicFactorGraph expected;
// SymbolicFactor::shared_ptr null;
// expected.push_back(f1);
// expected.push_back(null);
// expected.push_back(f3);
// expected.push_back(null);
//
// CHECK(assert_equal(expected, actual));
//}
///* ************************************************************************* */
//TEST( SymbolicFactorGraph, factors)
//{
// // create a test graph
// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
// SymbolicFactorGraph fg(factorGraph);
//
// // ask for all factor indices connected to x1
// list<size_t> x1_factors = fg.factors("x1");
// int x1_indices[] = { 0, 1, 2 };
// list<size_t> x1_expected(x1_indices, x1_indices + 3);
// CHECK(x1_factors==x1_expected);
//
// // ask for all factor indices connected to x2
// list<size_t> x2_factors = fg.factors("x2");
// int x2_indices[] = { 1, 3 };
// list<size_t> x2_expected(x2_indices, x2_indices + 2);
// CHECK(x2_factors==x2_expected);
//}
///* ************************************************************************* */
//TEST( SymbolicFactorGraph, removeAndCombineFactors )
//{
// // create a test graph
// GaussianFactorGraph factorGraph = createGaussianFactorGraph();
// SymbolicFactorGraph fg(factorGraph);
//
// // combine all factors connected to x1
// SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,"x1");
//
// // check result
// SymbolicFactor expected("l1","x1","x2");
// CHECK(assert_equal(expected,*actual));
//}
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
New linear solver interface, global inference functions removed.
2010-10-22 06:59:54 +08:00
///* ************************************************************************* */
//TEST( SymbolicFactorGraph, eliminateOne )
//{
// Ordering o; o += "x1","l1","x2";
// // create a test graph
// GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
// SymbolicFactorGraph fg(factorGraph);
//
// // eliminate
// IndexConditional::shared_ptr actual = GaussianSequentialSolver::EliminateUntil(fg, o["x1"]+1);
//
// // create expected symbolic IndexConditional
// IndexConditional expected(o["x1"],o["l1"],o["x2"]);
//
// CHECK(assert_equal(expected,*actual));
//}
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
/* ************************************************************************* */
new test to drive elimination tree development
2010-10-12 08:15:26 +08:00
TEST( SymbolicFactorGraph, eliminate )
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
{
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
Ordering o; o += "x2","l1","x1";
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
// create expected Chordal bayes Net
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-20 05:31:13 +08:00
IndexConditional::shared_ptr x2(new IndexConditional(o["x2"], o["l1"], o["x1"]));
IndexConditional::shared_ptr l1(new IndexConditional(o["l1"], o["x1"]));
IndexConditional::shared_ptr x1(new IndexConditional(o["x1"]));
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
SymbolicBayesNet expected;
expected.push_back(x2);
expected.push_back(l1);
expected.push_back(x1);
// create a test graph
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +08:00
GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
SymbolicFactorGraph fg(factorGraph);
// eliminate it
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
2011-03-25 03:27:12 +08:00
SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(&EliminateSymbolic);
Re-organization: moving all files. I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests. cpp will be further renamed/sub-divided and contains the core library. I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 15:16:31 +08:00
CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */