83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSymbolicSequentialSolver.cpp
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* @brief Unit tests for a symbolic IndexFactor Graph
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* @author Frank Dellaert
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* @date Sept 16, 2012
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*/
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/BayesNet-inl.h>
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#include <gtsam/inference/IndexFactor.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/inference/SymbolicSequentialSolver.h>
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using namespace std;
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using namespace gtsam;
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static const Index vx2 = 0;
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static const Index vx1 = 1;
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static const Index vl1 = 2;
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/* ************************************************************************* */
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TEST( SymbolicSequentialSolver, SymbolicSequentialSolver )
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{
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// create factor graph
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SymbolicFactorGraph g;
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g.push_factor(vx2, vx1, vl1);
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g.push_factor(vx1, vl1);
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g.push_factor(vx1);
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// test solver is Testable
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SymbolicSequentialSolver solver(g);
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// GTSAM_PRINT(solver);
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EXPECT(assert_equal(solver,solver));
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}
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/* ************************************************************************* */
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TEST( SymbolicSequentialSolver, eliminate )
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{
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// create expected Chordal bayes Net
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SymbolicBayesNet expected;
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expected.push_front(boost::make_shared<IndexConditional>(4));
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expected.push_front(boost::make_shared<IndexConditional>(3,4));
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expected.push_front(boost::make_shared<IndexConditional>(2,4));
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expected.push_front(boost::make_shared<IndexConditional>(1,2,4));
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expected.push_front(boost::make_shared<IndexConditional>(0,1,2));
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// Create factor graph
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SymbolicFactorGraph fg;
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fg.push_factor(0, 1);
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fg.push_factor(0, 2);
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fg.push_factor(1, 4);
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fg.push_factor(2, 4);
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fg.push_factor(3, 4);
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// eliminate
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SymbolicSequentialSolver solver(fg);
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SymbolicBayesNet::shared_ptr actual = solver.eliminate();
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CHECK(assert_equal(expected,*actual));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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