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gtsam/tests/testSymbolicBayesNetB.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
/**
Made unit test names unique between subdirectories and 'tests' directory, removed subdir prefix from compiled executable names. The duplicate filenames confused Eclipse and made things difficult in CMake as well.
2012-03-15 10:10:37 +08:00
* @file testSymbolicBayesNetB.cpp
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
* @brief Unit tests for a symbolic Bayes chain
* @author Frank Dellaert
*/
#include <boost/assign/list_inserter.hpp> // for 'insert()'
#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
Removed old Testable base class
2011-10-20 10:11:28 +08:00
#include <gtsam/base/Testable.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/slam/smallExample.h>
#include <gtsam/inference/SymbolicFactorGraph.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>
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-03 03:05:38 +08:00
#include <gtsam/nonlinear/Symbol.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;
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-03 03:28:21 +08:00
using symbol_shorthand::X;
using symbol_shorthand::L;
Int keys with formatter objects, all unit tests pass
2012-02-21 08:53:35 +08:00
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
/* ************************************************************************* */
TEST( SymbolicBayesNet, constructor )
{
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-03 03:28:21 +08:00
Ordering o; o += X(2),L(1),X(1);
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 manually
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
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-03 03:28:21 +08:00
x2(new IndexConditional(o[X(2)],o[L(1)], o[X(1)])),
l1(new IndexConditional(o[L(1)],o[X(1)])),
x1(new IndexConditional(o[X(1)]));
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
BayesNet<IndexConditional> expected;
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
expected.push_back(x2);
expected.push_back(l1);
expected.push_back(x1);
// Create from a 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 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));
}
Added conversion to base BayesNet from derived (includes Symbolic from Gaussian)
2012-03-12 09:25:55 +08:00
/* ************************************************************************* */
TEST( SymbolicBayesNet, FromGaussian) {
SymbolicBayesNet expected;
expected.push_back(IndexConditional::shared_ptr(new IndexConditional(0, 1)));
expected.push_back(IndexConditional::shared_ptr(new IndexConditional(1)));
GaussianBayesNet gbn = createSmallGaussianBayesNet();
SymbolicBayesNet actual(gbn);
EXPECT(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
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */