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