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update sampling test to use new sample method

release/4.3a0
Varun Agrawal 2022-12-24 20:32:08 +05:30
parent 6b834db828
commit 798c51aec9
1 changed files with 6 additions and 11 deletions
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17
gtsam/hybrid/tests/testHybridEstimation.cpp
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@ -469,25 +469,20 @@ TEST(HybridEstimation, CorrectnessViaSampling) {
// Set up sampling // Set up sampling
std::random_device rd; std::random_device rd;
std::mt19937_64 gen(rd()); std::mt19937_64 gen(11);
// Discrete distribution with 50/50 weightage on both discrete variables.
std::discrete_distribution<> ddist({50, 50});
// 3. Do sampling // 3. Do sampling
std::vector<double> ratios; std::vector<double> ratios;
int num_samples = 1000; int num_samples = 1000;
for (size_t i = 0; i < num_samples; i++) { for (size_t i = 0; i < num_samples; i++) {
// Sample a discrete value
DiscreteValues assignment;
assignment[M(0)] = ddist(gen);
// Using the discrete sample, get the corresponding bayes net.
GaussianBayesNet gbn = bn->choose(assignment);
// Sample from the bayes net // Sample from the bayes net
VectorValues sample = gbn.sample(&gen, noise_model); HybridValues sample = bn->sample(&gen);
// Compute the ratio in log form and canonical form // Compute the ratio in log form and canonical form
double log_ratio = bn->error(sample, assignment) - fg->error(sample, assignment); DiscreteValues assignment = sample.discrete();
double log_ratio = bn->error(sample.continuous(), assignment) -
fg->error(sample.continuous(), assignment);
double ratio = exp(-log_ratio); double ratio = exp(-log_ratio);
// Store the ratio for post-processing // Store the ratio for post-processing