80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSymbolicBayesNetB.cpp
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* @brief Unit tests for a symbolic Bayes chain
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* @author Frank Dellaert
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*/
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#include <boost/assign/list_inserter.hpp> // for 'insert()'
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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 <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/slam/smallExample.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/SymbolicSequentialSolver.h>
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#include <gtsam/nonlinear/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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Key kx(size_t i) { return Symbol('x',i); }
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Key kl(size_t i) { return Symbol('l',i); }
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, constructor )
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{
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Ordering o; o += kx(2),kl(1),kx(1);
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// Create manually
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IndexConditional::shared_ptr
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x2(new IndexConditional(o[kx(2)],o[kl(1)], o[kx(1)])),
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l1(new IndexConditional(o[kl(1)],o[kx(1)])),
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x1(new IndexConditional(o[kx(1)]));
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BayesNet<IndexConditional> expected;
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expected.push_back(x2);
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expected.push_back(l1);
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expected.push_back(x1);
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// Create from a factor graph
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GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
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SymbolicFactorGraph fg(factorGraph);
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// eliminate it
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SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(
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&EliminateSymbolic);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, FromGaussian) {
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SymbolicBayesNet expected;
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expected.push_back(IndexConditional::shared_ptr(new IndexConditional(0, 1)));
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expected.push_back(IndexConditional::shared_ptr(new IndexConditional(1)));
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GaussianBayesNet gbn = createSmallGaussianBayesNet();
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SymbolicBayesNet actual(gbn);
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EXPECT(assert_equal(expected, actual));
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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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