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Fixed more compile warnings

release/4.3a0
Richard Roberts 2010-11-19 20:56:00 +00:00
parent 83f3e14261
commit 8bfd392b9f
1 changed files with 105 additions and 105 deletions
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210
gtsam/inference/tests/testISAM.cpp
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@ -39,114 +39,114 @@ typedef ISAM<IndexConditional> SymbolicISAM;
double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 =
0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1;
/* ************************************************************************* * /* ************************************************************************* */
// SLAM example from RSS sqrtSAM paper //// SLAM example from RSS sqrtSAM paper
SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")), //SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")),
x2(new SymbolicConditional("x2","x3")), // x2(new SymbolicConditional("x2","x3")),
x1(new SymbolicConditional("x1","x2","x3")), // x1(new SymbolicConditional("x1","x2","x3")),
l1(new SymbolicConditional("l1","x1","x2")), // l1(new SymbolicConditional("l1","x1","x2")),
l2(new SymbolicConditional("l2","x1","x3")); // 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
// Conditionals for ASIA example from the tutorial with A and D evidence // B(new SymbolicConditional("B")),
SymbolicConditional::shared_ptr // L(new SymbolicConditional("L", "B")),
B(new SymbolicConditional("B")), // E(new SymbolicConditional("E", "B", "L")),
L(new SymbolicConditional("L", "B")), // S(new SymbolicConditional("S", "L", "B")),
E(new SymbolicConditional("E", "B", "L")), // T(new SymbolicConditional("T", "E", "L")),
S(new SymbolicConditional("S", "L", "B")), // X(new SymbolicConditional("X", "E"));
T(new SymbolicConditional("T", "E", "L")), //
X(new SymbolicConditional("X", "E")); //// ISAM for Asia example
//SymbolicISAM createAsiaSymbolicISAM() {
// ISAM for Asia example // SymbolicISAM bayesTree;
SymbolicISAM createAsiaSymbolicISAM() { // bayesTree.insert(B);
SymbolicISAM bayesTree; // bayesTree.insert(L);
bayesTree.insert(B); // bayesTree.insert(E);
bayesTree.insert(L); // bayesTree.insert(S);
bayesTree.insert(E); // bayesTree.insert(T);
bayesTree.insert(S); // bayesTree.insert(X);
bayesTree.insert(T); // return bayesTree;
bayesTree.insert(X); //}
return bayesTree; //
} ///* ************************************************************************* */
//TEST( ISAM, iSAM )
/* ************************************************************************* * //{
TEST( ISAM, iSAM ) // SymbolicISAM bayesTree = createAsiaSymbolicISAM();
{ //
SymbolicISAM bayesTree = createAsiaSymbolicISAM(); // // Now we modify the Bayes tree by inserting a new factor over B and S
//
// 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
// New conditionals in modified top of the tree // S_(new SymbolicConditional("S")),
SymbolicConditional::shared_ptr // B_(new SymbolicConditional("B", "S")),
S_(new SymbolicConditional("S")), // L_(new SymbolicConditional("L", "B", "S"));
B_(new SymbolicConditional("B", "S")), //
L_(new SymbolicConditional("L", "B", "S")); // // Create expected Bayes tree
// SymbolicISAM expected;
// Create expected Bayes tree // expected.insert(S_);
SymbolicISAM expected; // expected.insert(B_);
expected.insert(S_); // expected.insert(L_);
expected.insert(B_); // expected.insert(E);
expected.insert(L_); // expected.insert(T);
expected.insert(E); // expected.insert(X);
expected.insert(T); //
expected.insert(X); // // create new factors to be inserted
// SymbolicFactorGraph factorGraph;
// create new factors to be inserted // factorGraph.push_factor("B","S");
SymbolicFactorGraph factorGraph; // factorGraph.push_factor("B");
factorGraph.push_factor("B","S"); //
factorGraph.push_factor("B"); // // do incremental inference
// bayesTree.update(factorGraph);
// do incremental inference //
bayesTree.update(factorGraph); // // Check whether the same
// CHECK(assert_equal(expected,bayesTree));
// Check whether the same //}
CHECK(assert_equal(expected,bayesTree)); //
} ///* ************************************************************************* */
//TEST( ISAM, iSAM_slam )
/* ************************************************************************* * //{
TEST( ISAM, iSAM_slam ) // // Create using insert
{ // SymbolicISAM bayesTree_slam = createSlamSymbolicISAM();
// Create using insert //
SymbolicISAM bayesTree_slam = createSlamSymbolicISAM(); // //New conditionals for the expected Bayes tree
// SymbolicConditional::shared_ptr
//New conditionals for the expected Bayes tree // l1_(new SymbolicConditional("l1","x1","x2","x3"));
SymbolicConditional::shared_ptr //
l1_(new SymbolicConditional("l1","x1","x2","x3")); // // Create expected Bayes tree
// SymbolicISAM expected_slam;
// Create expected Bayes tree // expected_slam.insert(x3);
SymbolicISAM expected_slam; // expected_slam.insert(x2);
expected_slam.insert(x3); // expected_slam.insert(x1);
expected_slam.insert(x2); // expected_slam.insert(l1_);
expected_slam.insert(x1); // expected_slam.insert(l2);
expected_slam.insert(l1_); //
expected_slam.insert(l2); //
// // create new factors to be inserted
// SymbolicFactorGraph factorGraph_slam;
// create new factors to be inserted // factorGraph_slam.push_factor("x3","l1");
SymbolicFactorGraph factorGraph_slam; // factorGraph_slam.push_factor("x3");
factorGraph_slam.push_factor("x3","l1"); //
factorGraph_slam.push_factor("x3"); // // do incremental inference
// bayesTree_slam.update(factorGraph_slam);
// do incremental inference //
bayesTree_slam.update(factorGraph_slam); // // Check whether the same
// CHECK(assert_equal(expected_slam,bayesTree_slam));
// Check whether the same //}
CHECK(assert_equal(expected_slam,bayesTree_slam));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);} int main() { TestResult tr; return TestRegistry::runAllTests(tr);}