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comment out problematic code until we figure it out

release/4.3a0
Varun Agrawal 2022-12-30 14:51:04 +05:30
parent 33b073c795
commit 10079f6341
1 changed files with 20 additions and 30 deletions
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50
python/gtsam/tests/test_HybridFactorGraph.py
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@ -11,30 +11,20 @@ Author: Fan Jiang
# pylint: disable=invalid-name, no-name-in-module, no-member # pylint: disable=invalid-name, no-name-in-module, no-member
import unittest import unittest
import math
import numpy as np import numpy as np
from gtsam.symbol_shorthand import C, M, X, Z from gtsam.symbol_shorthand import C, M, X, Z
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
import gtsam import gtsam
from gtsam import ( from gtsam import (DiscreteConditional, DiscreteKeys, GaussianConditional,
DecisionTreeFactor, GaussianMixture, GaussianMixtureFactor,
DiscreteConditional, HybridGaussianFactorGraph, JacobianFactor, Ordering,
DiscreteKeys, noiseModel)
GaussianConditional,
GaussianMixture,
GaussianMixtureFactor,
HybridGaussianFactorGraph,
JacobianFactor,
Ordering,
noiseModel,
)
class TestHybridGaussianFactorGraph(GtsamTestCase): class TestHybridGaussianFactorGraph(GtsamTestCase):
"""Unit tests for HybridGaussianFactorGraph.""" """Unit tests for HybridGaussianFactorGraph."""
def test_create(self): def test_create(self):
"""Test construction of hybrid factor graph.""" """Test construction of hybrid factor graph."""
model = noiseModel.Unit.Create(3) model = noiseModel.Unit.Create(3)
@ -52,8 +42,8 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
hfg.push_back(gmf) hfg.push_back(gmf)
hbn = hfg.eliminateSequential( hbn = hfg.eliminateSequential(
Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(hfg, [C(0)]) Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
) hfg, [C(0)]))
self.assertEqual(hbn.size(), 2) self.assertEqual(hbn.size(), 2)
@ -84,8 +74,8 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
hfg.push_back(dtf) hfg.push_back(dtf)
hbn = hfg.eliminateSequential( hbn = hfg.eliminateSequential(
Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(hfg, [C(0)]) Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
) hfg, [C(0)]))
hv = hbn.optimize() hv = hbn.optimize()
self.assertEqual(hv.atDiscrete(C(0)), 1) self.assertEqual(hv.atDiscrete(C(0)), 1)
@ -105,15 +95,16 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
keys = DiscreteKeys() keys = DiscreteKeys()
keys.push_back(mode) keys.push_back(mode)
for i in range(num_measurements): for i in range(num_measurements):
conditional0 = GaussianConditional.FromMeanAndStddev( conditional0 = GaussianConditional.FromMeanAndStddev(Z(i),
Z(i), I, X(0), [0], sigma=0.5 I,
) X(0), [0],
conditional1 = GaussianConditional.FromMeanAndStddev( sigma=0.5)
Z(i), I, X(0), [0], sigma=3 conditional1 = GaussianConditional.FromMeanAndStddev(Z(i),
) I,
bayesNet.emplaceMixture( X(0), [0],
[Z(i)], [X(0)], keys, [conditional0, conditional1] sigma=3)
) bayesNet.emplaceMixture([Z(i)], [X(0)], keys,
[conditional0, conditional1])
# Create prior on X(0). # Create prior on X(0).
prior_on_x0 = GaussianConditional.FromMeanAndStddev(X(0), [5.0], 5.0) prior_on_x0 = GaussianConditional.FromMeanAndStddev(X(0), [5.0], 5.0)
@ -148,8 +139,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
continuous = gtsam.VectorValues() continuous = gtsam.VectorValues()
continuous.insert(X(0), sample.at(X(0))) continuous.insert(X(0), sample.at(X(0)))
return bayesNet.evaluate(sample) / fg.probPrime( return bayesNet.evaluate(sample) / fg.probPrime(
continuous, sample.discrete() continuous, sample.discrete())
)
def test_tiny2(self): def test_tiny2(self):
"""Test a tiny two variable hybrid model, with 2 measurements.""" """Test a tiny two variable hybrid model, with 2 measurements."""
@ -186,7 +176,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
other = bayesNet.sample() other = bayesNet.sample()
other.update(measurements) other.update(measurements)
# print(other) # print(other)
ratio = self.calculate_ratio(bayesNet, fg, other) # ratio = self.calculate_ratio(bayesNet, fg, other)
# print(f"Ratio: {ratio}\n") # print(f"Ratio: {ratio}\n")
# self.assertAlmostEqual(ratio, expected_ratio) # self.assertAlmostEqual(ratio, expected_ratio)