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gtsam/tests/testSymbolicFactorGraphB.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.
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/**
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.
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* @file testSymbolicFactorGraphB.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.
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* @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'.
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#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
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
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#include <gtsam/slam/smallExample.h>
#include <gtsam/inference/SymbolicFactorGraph.h>
Merged simplelinear branch into trunk
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#include <gtsam/inference/BayesNet-inl.h>
New linear solver interface, global inference functions removed.
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#include <gtsam/inference/SymbolicSequentialSolver.h>
Merged simplelinear branch into trunk
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#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.
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using namespace std;
using namespace gtsam;
using namespace example;
Int keys with formatter objects, all unit tests pass
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Key kx(size_t i) { return Symbol('x',i); }
Key kl(size_t i) { return Symbol('l',i); }
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.
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/* ************************************************************************* */
TEST( SymbolicFactorGraph, symbolicFactorGraph )
{
Int keys with formatter objects, all unit tests pass
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Ordering o; o += kx(1),kl(1),kx(2);
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.
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// construct expected symbolic graph
SymbolicFactorGraph expected;
Int keys with formatter objects, all unit tests pass
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expected.push_factor(o[kx(1)]);
expected.push_factor(o[kx(1)],o[kx(2)]);
expected.push_factor(o[kx(1)],o[kl(1)]);
expected.push_factor(o[kx(2)],o[kl(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
// 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.
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SymbolicFactorGraph actual(factorGraph);
CHECK(assert_equal(expected, actual));
}
Merged simplelinear branch into trunk
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///* ************************************************************************* */
//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];
Int keys with formatter objects, all unit tests pass
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// actual.findAndRemoveFactors(kx(2));
Merged simplelinear branch into trunk
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//
// // 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
Int keys with formatter objects, all unit tests pass
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// list<size_t> x1_factors = fg.factors(kx(1));
Merged simplelinear branch into trunk
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// 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
Int keys with formatter objects, all unit tests pass
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// list<size_t> x2_factors = fg.factors(kx(2));
Merged simplelinear branch into trunk
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// 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
Int keys with formatter objects, all unit tests pass
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// SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,kx(1));
Merged simplelinear branch into trunk
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//
// // check result
Int keys with formatter objects, all unit tests pass
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// SymbolicFactor expected(kl(1),kx(1),kx(2));
Merged simplelinear branch into trunk
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// 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.
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///* ************************************************************************* */
//TEST( SymbolicFactorGraph, eliminateOne )
//{
Int keys with formatter objects, all unit tests pass
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// Ordering o; o += kx(1),kl(1),kx(2);
New linear solver interface, global inference functions removed.
2010-10-22 06:59:54 +08:00
// // create a test graph
// GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
// SymbolicFactorGraph fg(factorGraph);
//
// // eliminate
Int keys with formatter objects, all unit tests pass
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// IndexConditional::shared_ptr actual = GaussianSequentialSolver::EliminateUntil(fg, o[kx(1)]+1);
New linear solver interface, global inference functions removed.
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//
// // create expected symbolic IndexConditional
Int keys with formatter objects, all unit tests pass
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// IndexConditional expected(o[kx(1)],o[kl(1)],o[kx(2)]);
New linear solver interface, global inference functions removed.
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//
// 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
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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
{
Int keys with formatter objects, all unit tests pass
2012-02-21 08:53:35 +08:00
Ordering o; o += kx(2),kl(1),kx(1);
Merged simplelinear branch into trunk
2010-10-09 06:04:47 +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
// create expected Chordal bayes Net
Int keys with formatter objects, all unit tests pass
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IndexConditional::shared_ptr x2(new IndexConditional(o[kx(2)], o[kl(1)], o[kx(1)]));
IndexConditional::shared_ptr l1(new IndexConditional(o[kl(1)], o[kx(1)]));
IndexConditional::shared_ptr x1(new IndexConditional(o[kx(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
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...).
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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.
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CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */