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symbolic tree in testIncremental

release/4.3a0
Frank Dellaert 2009-11-18 15:37:19 +00:00
parent f56bf8c79f
commit ceed2ae17d
2 changed files with 33 additions and 26 deletions
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39
.cproject
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@ -300,7 +300,6 @@
<buildTargets> <buildTargets>
<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>install</buildTarget> <buildTarget>install</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -308,7 +307,6 @@
</target> </target>
<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>check</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -324,7 +322,6 @@
</target> </target>
<target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimpleCamera.run</buildTarget> <buildTarget>testSimpleCamera.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -340,6 +337,7 @@
</target> </target>
<target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVSLAMFactor.run</buildTarget> <buildTarget>testVSLAMFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -347,7 +345,6 @@
</target> </target>
<target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testCalibratedCamera.run</buildTarget> <buildTarget>testCalibratedCamera.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -355,6 +352,7 @@
</target> </target>
<target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianConditional.run</buildTarget> <buildTarget>testGaussianConditional.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -362,7 +360,6 @@
</target> </target>
<target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testPose2.run</buildTarget> <buildTarget>testPose2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -370,7 +367,6 @@
</target> </target>
<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testRot3.run</buildTarget> <buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -378,6 +374,7 @@
</target> </target>
<target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testNonlinearOptimizer.run</buildTarget> <buildTarget>testNonlinearOptimizer.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -385,7 +382,6 @@
</target> </target>
<target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget> <buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -393,7 +389,6 @@
</target> </target>
<target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactorGraph.run</buildTarget> <buildTarget>testGaussianFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -401,6 +396,7 @@
</target> </target>
<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testNonlinearFactorGraph.run</buildTarget> <buildTarget>testNonlinearFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -408,7 +404,6 @@
</target> </target>
<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testPose3.run</buildTarget> <buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -416,6 +411,7 @@
</target> </target>
<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVectorConfig.run</buildTarget> <buildTarget>testVectorConfig.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -423,6 +419,7 @@
</target> </target>
<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testPoint2.run</buildTarget> <buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -430,7 +427,6 @@
</target> </target>
<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testNonlinearFactor.run</buildTarget> <buildTarget>testNonlinearFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -438,7 +434,6 @@
</target> </target>
<target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>timeGaussianFactor.run</buildTarget> <buildTarget>timeGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -446,7 +441,6 @@
</target> </target>
<target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>timeGaussianFactorGraph.run</buildTarget> <buildTarget>timeGaussianFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -454,7 +448,6 @@
</target> </target>
<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesNet.run</buildTarget> <buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -462,6 +455,7 @@
</target> </target>
<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBayesTree.run</buildTarget> <buildTarget>testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -469,7 +463,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -477,6 +470,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -484,7 +478,6 @@
</target> </target>
<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVector.run</buildTarget> <buildTarget>testVector.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -492,7 +485,6 @@
</target> </target>
<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testMatrix.run</buildTarget> <buildTarget>testMatrix.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -500,6 +492,7 @@
</target> </target>
<target name="testInference.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testInference.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget> <buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -507,6 +500,7 @@
</target> </target>
<target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVSLAMGraph.run</buildTarget> <buildTarget>testVSLAMGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -514,6 +508,7 @@
</target> </target>
<target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testNonlinearEquality.run</buildTarget> <buildTarget>testNonlinearEquality.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -521,14 +516,22 @@
</target> </target>
<target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSQP.run</buildTarget> <buildTarget>testSQP.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testIncremental.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testIncremental.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>install</buildTarget> <buildTarget>install</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -536,6 +539,7 @@
</target> </target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>clean</buildTarget> <buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
@ -543,6 +547,7 @@
</target> </target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>check</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>

20
cpp/testIncremental.cpp
View File

@ -33,16 +33,18 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
new SymbolicConditional("X", "E")); new SymbolicConditional("X", "E"));
/* ************************************************************************* */ /* ************************************************************************* */
TEST( BayesTree, Front ) TEST( BayesTree, iSAM )
{ {
SymbolicBayesNet f1; // Create using insert
f1.push_back(B); SymbolicBayesTree bayesTree;
f1.push_back(L); bayesTree.insert(B);
SymbolicBayesNet f2; bayesTree.insert(L);
f2.push_back(L); bayesTree.insert(E);
f2.push_back(B); bayesTree.insert(S);
CHECK(f1.equals(f1)); bayesTree.insert(T);
CHECK(!f1.equals(f2)); bayesTree.insert(X);
bayesTree.print("bayesTree");
} }
/* ************************************************************************* */ /* ************************************************************************* */