gtsam/cpp/testFactorgraph.cpp

/**
 *  @file   testFactorgraph.cpp
 *  @brief  Unit tests for Factor Graphs
 *  @author Christian Potthast
 **/

/*STL/C++*/
#include <list>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/assign/std/set.hpp> // for operator +=
using namespace boost::assign;

#include <CppUnitLite/TestHarness.h>

#define GTSAM_MAGIC_KEY
#include "SymbolicFactorGraph.h"

using namespace std;
using namespace gtsam;

typedef boost::shared_ptr<SymbolicFactorGraph> shared;

/* ************************************************************************* */
TEST( FactorGraph, splitMinimumSpanningTree )
{
	SymbolicFactorGraph G;
	G.push_factor("x1", "x2");
	G.push_factor("x1", "x3");
	G.push_factor("x1", "x4");
	G.push_factor("x2", "x3");
	G.push_factor("x2", "x4");
	G.push_factor("x3", "x4");

	SymbolicFactorGraph T, C;
	boost::tie(T, C) = G.splitMinimumSpanningTree();

	SymbolicFactorGraph expectedT, expectedC;
	expectedT.push_factor("x1", "x2");
	expectedT.push_factor("x1", "x3");
	expectedT.push_factor("x1", "x4");
	expectedC.push_factor("x2", "x3");
	expectedC.push_factor("x2", "x4");
	expectedC.push_factor("x3", "x4");
	CHECK(assert_equal(expectedT,T));
	CHECK(assert_equal(expectedC,C));
}

/* ************************************************************************* */
/**
 *  x1 - x2 - x3 - x4 - x5
 *       |    |  / |
 *       l1   l2   l3
 */
TEST( FactorGraph, removeSingletons )
{
	SymbolicFactorGraph G;
	G.push_factor("x1", "x2");
	G.push_factor("x2", "x3");
	G.push_factor("x3", "x4");
	G.push_factor("x4", "x5");
	G.push_factor("x2", "l1");
	G.push_factor("x3", "l2");
	G.push_factor("x4", "l2");
	G.push_factor("x4", "l3");

	SymbolicFactorGraph singletonGraph;
	set<Symbol> singletons;
	boost::tie(singletonGraph, singletons) = G.removeSingletons();

	set<Symbol> singletons_excepted; singletons_excepted += "x1", "x2", "x5", "l1", "l3";
	CHECK(singletons_excepted == singletons);

	SymbolicFactorGraph singletonGraph_excepted;
	singletonGraph_excepted.push_factor("x2", "l1");
	singletonGraph_excepted.push_factor("x4", "l3");
	singletonGraph_excepted.push_factor("x1", "x2");
	singletonGraph_excepted.push_factor("x4", "x5");
	singletonGraph_excepted.push_factor("x2", "x3");
	CHECK(singletonGraph_excepted.equals(singletonGraph));
}


/* ************************************************************************* */
int main() {
	TestResult tr;
	return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */