250 lines
6.8 KiB
C++
250 lines
6.8 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 testGaussianBayesNet.cpp
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* @brief Unit tests for GaussianBayesNet
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* @author Frank Dellaert
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*/
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// STL/C++
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#include <iostream>
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#include <sstream>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/tuple/tuple.hpp>
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#include <boost/foreach.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#ifdef HAVE_BOOST_SERIALIZATION
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#endif //HAVE_BOOST_SERIALIZATION
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#define GTSAM_MAGIC_KEY
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#include <gtsam/linear/GaussianBayesNet.h>
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#include <gtsam/inference/BayesNet.h>
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#include <gtsam/linear/GaussianSequentialSolver.h>
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#include <gtsam/slam/smallExample.h>
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using namespace std;
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using namespace gtsam;
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using namespace example;
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static const Index _x_=0, _y_=1, _z_=2;
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/* ************************************************************************* */
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TEST( GaussianBayesNet, constructor )
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{
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// small Bayes Net x <- y
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// x y d
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// 1 1 9
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// 1 5
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Matrix R11 = Matrix_(1,1,1.0), S12 = Matrix_(1,1,1.0);
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Matrix R22 = Matrix_(1,1,1.0);
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Vector d1(1), d2(1);
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d1(0) = 9; d2(0) = 5;
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Vector sigmas(1);
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sigmas(0) = 1.;
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// define nodes and specify in reverse topological sort (i.e. parents last)
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GaussianConditional x(_x_,d1,R11,_y_,S12, sigmas), y(_y_,d2,R22, sigmas);
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// check small example which uses constructor
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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CHECK( x.equals(*cbn[_x_]) );
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CHECK( y.equals(*cbn[_y_]) );
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, matrix )
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{
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// Create a test graph
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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Matrix R; Vector d;
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boost::tie(R,d) = matrix(cbn); // find matrix and RHS
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Matrix R1 = Matrix_(2,2,
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1.0, 1.0,
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0.0, 1.0
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);
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Vector d1 = Vector_(2, 9.0, 5.0);
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EQUALITY(R,R1);
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CHECK(d==d1);
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, optimize )
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{
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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VectorValues actual = optimize(cbn);
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VectorValues expected(vector<size_t>(2,1));
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expected[_x_] = Vector_(1,4.);
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expected[_y_] = Vector_(1,5.);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, optimize2 )
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{
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// Create empty graph
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GaussianFactorGraph fg;
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SharedDiagonal noise = noiseModel::Unit::Create(1);
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fg.add(_y_, eye(1), 2*ones(1), noise);
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fg.add(_x_, eye(1),_y_, -eye(1), -ones(1), noise);
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fg.add(_y_, eye(1),_z_, -eye(1), -ones(1), noise);
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fg.add(_x_, -eye(1), _z_, eye(1), 2*ones(1), noise);
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VectorValues actual = *GaussianSequentialSolver(fg).optimize();
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VectorValues expected(vector<size_t>(3,1));
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expected[_x_] = Vector_(1,1.);
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expected[_y_] = Vector_(1,2.);
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expected[_z_] = Vector_(1,3.);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, backSubstitute )
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{
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// y=R*x, x=inv(R)*y
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// 2 = 1 1 -1
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// 3 1 3
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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VectorValues y(vector<size_t>(2,1)), x(vector<size_t>(2,1));
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y[_x_] = Vector_(1,2.);
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y[_y_] = Vector_(1,3.);
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x[_x_] = Vector_(1,-1.);
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x[_y_] = Vector_(1, 3.);
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// test functional version
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VectorValues actual = backSubstitute(cbn,y);
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CHECK(assert_equal(x,actual));
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// test imperative version
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backSubstituteInPlace(cbn,y);
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CHECK(assert_equal(x,y));
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, rhs )
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{
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// y=R*x, x=inv(R)*y
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// 2 = 1 1 -1
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// 3 1 3
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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VectorValues expected = gtsam::optimize(cbn);
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VectorValues d = rhs(cbn);
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VectorValues actual = backSubstitute(cbn, d);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, rhs_with_sigmas )
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{
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Matrix R11 = Matrix_(1, 1, 1.0), S12 = Matrix_(1, 1, 1.0);
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Matrix R22 = Matrix_(1, 1, 1.0);
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Vector d1(1), d2(1);
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d1(0) = 9;
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d2(0) = 5;
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Vector tau(1);
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tau(0) = 0.25;
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// define nodes and specify in reverse topological sort (i.e. parents last)
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GaussianConditional::shared_ptr Px_y(new GaussianConditional(_x_, d1, R11,
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_y_, S12, tau)), Py(new GaussianConditional(_y_, d2, R22, tau));
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GaussianBayesNet cbn;
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cbn.push_back(Px_y);
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cbn.push_back(Py);
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VectorValues expected = gtsam::optimize(cbn);
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VectorValues d = rhs(cbn);
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VectorValues actual = backSubstitute(cbn, d);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST( GaussianBayesNet, backSubstituteTranspose )
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{
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// x=R'*y, y=inv(R')*x
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// 2 = 1 2
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// 5 1 1 3
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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VectorValues y(vector<size_t>(2,1)), x(vector<size_t>(2,1));
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x[_x_] = Vector_(1,2.);
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x[_y_] = Vector_(1,5.);
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y[_x_] = Vector_(1,2.);
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y[_y_] = Vector_(1,3.);
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// test functional version
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VectorValues actual = backSubstituteTranspose(cbn,x);
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CHECK(assert_equal(y,actual));
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}
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/* ************************************************************************* */
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#ifdef HAVE_BOOST_SERIALIZATION
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TEST( GaussianBayesNet, serialize )
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{
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//create a starting CBN
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GaussianBayesNet cbn = createSmallGaussianBayesNet();
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//serialize the CBN
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ostringstream in_archive_stream;
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boost::archive::text_oarchive in_archive(in_archive_stream);
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in_archive << cbn;
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string serialized = in_archive_stream.str();
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//DEBUG
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cout << "CBN Raw string: [" << serialized << "]" << endl;
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//remove newlines/carriage returns
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string clean;
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BOOST_FOREACH(char s, serialized) {
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if (s != '\n') {
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//copy in character
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clean.append(string(1,s));
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}
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else {
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cout << " Newline character found!" << endl;
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//replace with an identifiable string
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clean.append(string(1,' '));
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}
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}
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cout << "Cleaned CBN String: [" << clean << "]" << endl;
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//deserialize the CBN
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istringstream out_archive_stream(clean);
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boost::archive::text_iarchive out_archive(out_archive_stream);
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GaussianBayesNet output;
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out_archive >> output;
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CHECK(cbn.equals(output));
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}
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#endif //HAVE_BOOST_SERIALIZATION
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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