From 8bfd392b9f0a6fedec8e0fd41d4ac4f441b75d96 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 19 Nov 2010 20:56:00 +0000 Subject: [PATCH] Fixed more compile warnings --- gtsam/inference/tests/testISAM.cpp | 210 ++++++++++++++--------------- 1 file changed, 105 insertions(+), 105 deletions(-) diff --git a/gtsam/inference/tests/testISAM.cpp b/gtsam/inference/tests/testISAM.cpp index 128d2871b..045819c47 100644 --- a/gtsam/inference/tests/testISAM.cpp +++ b/gtsam/inference/tests/testISAM.cpp @@ -39,114 +39,114 @@ typedef ISAM SymbolicISAM; double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; -/* ************************************************************************* * +/* ************************************************************************* */ -// SLAM example from RSS sqrtSAM paper -SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")), - x2(new SymbolicConditional("x2","x3")), - x1(new SymbolicConditional("x1","x2","x3")), - l1(new SymbolicConditional("l1","x1","x2")), - l2(new SymbolicConditional("l2","x1","x3")); +//// SLAM example from RSS sqrtSAM paper +//SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")), +// x2(new SymbolicConditional("x2","x3")), +// x1(new SymbolicConditional("x1","x2","x3")), +// l1(new SymbolicConditional("l1","x1","x2")), +// l2(new SymbolicConditional("l2","x1","x3")); +// +//// ISAM for sqrtSAM example +//SymbolicISAM createSlamSymbolicISAM(){ +// // Create using insert +// SymbolicISAM bayesTree_slam; +// bayesTree_slam.insert(x3); +// bayesTree_slam.insert(x2); +// bayesTree_slam.insert(x1); +// bayesTree_slam.insert(l2); +// bayesTree_slam.insert(l1); +// return bayesTree_slam; +//} -// ISAM for sqrtSAM example -SymbolicISAM createSlamSymbolicISAM(){ - // Create using insert - SymbolicISAM bayesTree_slam; - bayesTree_slam.insert(x3); - bayesTree_slam.insert(x2); - bayesTree_slam.insert(x1); - bayesTree_slam.insert(l2); - bayesTree_slam.insert(l1); - return bayesTree_slam; -} +/* ************************************************************************* */ -/* ************************************************************************* * - -// Conditionals for ASIA example from the tutorial with A and D evidence -SymbolicConditional::shared_ptr - B(new SymbolicConditional("B")), - L(new SymbolicConditional("L", "B")), - E(new SymbolicConditional("E", "B", "L")), - S(new SymbolicConditional("S", "L", "B")), - T(new SymbolicConditional("T", "E", "L")), - X(new SymbolicConditional("X", "E")); - -// ISAM for Asia example -SymbolicISAM createAsiaSymbolicISAM() { - SymbolicISAM bayesTree; - bayesTree.insert(B); - bayesTree.insert(L); - bayesTree.insert(E); - bayesTree.insert(S); - bayesTree.insert(T); - bayesTree.insert(X); - return bayesTree; -} - -/* ************************************************************************* * -TEST( ISAM, iSAM ) -{ - SymbolicISAM bayesTree = createAsiaSymbolicISAM(); - - // Now we modify the Bayes tree by inserting a new factor over B and S - - // New conditionals in modified top of the tree - SymbolicConditional::shared_ptr - S_(new SymbolicConditional("S")), - B_(new SymbolicConditional("B", "S")), - L_(new SymbolicConditional("L", "B", "S")); - - // Create expected Bayes tree - SymbolicISAM expected; - expected.insert(S_); - expected.insert(B_); - expected.insert(L_); - expected.insert(E); - expected.insert(T); - expected.insert(X); - - // create new factors to be inserted - SymbolicFactorGraph factorGraph; - factorGraph.push_factor("B","S"); - factorGraph.push_factor("B"); - - // do incremental inference - bayesTree.update(factorGraph); - - // Check whether the same - CHECK(assert_equal(expected,bayesTree)); -} - -/* ************************************************************************* * -TEST( ISAM, iSAM_slam ) -{ - // Create using insert - SymbolicISAM bayesTree_slam = createSlamSymbolicISAM(); - - //New conditionals for the expected Bayes tree - SymbolicConditional::shared_ptr - l1_(new SymbolicConditional("l1","x1","x2","x3")); - - // Create expected Bayes tree - SymbolicISAM expected_slam; - expected_slam.insert(x3); - expected_slam.insert(x2); - expected_slam.insert(x1); - expected_slam.insert(l1_); - expected_slam.insert(l2); - - - // create new factors to be inserted - SymbolicFactorGraph factorGraph_slam; - factorGraph_slam.push_factor("x3","l1"); - factorGraph_slam.push_factor("x3"); - - // do incremental inference - bayesTree_slam.update(factorGraph_slam); - - // Check whether the same - CHECK(assert_equal(expected_slam,bayesTree_slam)); -} +//// Conditionals for ASIA example from the tutorial with A and D evidence +//SymbolicConditional::shared_ptr +// B(new SymbolicConditional("B")), +// L(new SymbolicConditional("L", "B")), +// E(new SymbolicConditional("E", "B", "L")), +// S(new SymbolicConditional("S", "L", "B")), +// T(new SymbolicConditional("T", "E", "L")), +// X(new SymbolicConditional("X", "E")); +// +//// ISAM for Asia example +//SymbolicISAM createAsiaSymbolicISAM() { +// SymbolicISAM bayesTree; +// bayesTree.insert(B); +// bayesTree.insert(L); +// bayesTree.insert(E); +// bayesTree.insert(S); +// bayesTree.insert(T); +// bayesTree.insert(X); +// return bayesTree; +//} +// +///* ************************************************************************* */ +//TEST( ISAM, iSAM ) +//{ +// SymbolicISAM bayesTree = createAsiaSymbolicISAM(); +// +// // Now we modify the Bayes tree by inserting a new factor over B and S +// +// // New conditionals in modified top of the tree +// SymbolicConditional::shared_ptr +// S_(new SymbolicConditional("S")), +// B_(new SymbolicConditional("B", "S")), +// L_(new SymbolicConditional("L", "B", "S")); +// +// // Create expected Bayes tree +// SymbolicISAM expected; +// expected.insert(S_); +// expected.insert(B_); +// expected.insert(L_); +// expected.insert(E); +// expected.insert(T); +// expected.insert(X); +// +// // create new factors to be inserted +// SymbolicFactorGraph factorGraph; +// factorGraph.push_factor("B","S"); +// factorGraph.push_factor("B"); +// +// // do incremental inference +// bayesTree.update(factorGraph); +// +// // Check whether the same +// CHECK(assert_equal(expected,bayesTree)); +//} +// +///* ************************************************************************* */ +//TEST( ISAM, iSAM_slam ) +//{ +// // Create using insert +// SymbolicISAM bayesTree_slam = createSlamSymbolicISAM(); +// +// //New conditionals for the expected Bayes tree +// SymbolicConditional::shared_ptr +// l1_(new SymbolicConditional("l1","x1","x2","x3")); +// +// // Create expected Bayes tree +// SymbolicISAM expected_slam; +// expected_slam.insert(x3); +// expected_slam.insert(x2); +// expected_slam.insert(x1); +// expected_slam.insert(l1_); +// expected_slam.insert(l2); +// +// +// // create new factors to be inserted +// SymbolicFactorGraph factorGraph_slam; +// factorGraph_slam.push_factor("x3","l1"); +// factorGraph_slam.push_factor("x3"); +// +// // do incremental inference +// bayesTree_slam.update(factorGraph_slam); +// +// // Check whether the same +// CHECK(assert_equal(expected_slam,bayesTree_slam)); +//} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);}