87 lines
3.0 KiB
C++
87 lines
3.0 KiB
C++
/*
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* testJunctionTree.cpp
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*
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* Created on: Jul 8, 2010
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* Author: nikai
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* Description:
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*/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <boost/assign/std/set.hpp> // for operator +=
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using namespace boost::assign;
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#define GTSAM_MAGIC_KEY
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#include "smallExample.h"
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#include "JunctionTree-inl.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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/* ************************************************************************* *
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Bayes tree for smoother with "nested dissection" ordering:
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C1 x5 x6 x4
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C2 x3 x2 : x4
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C3 x1 : x2
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C4 x7 : x6
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/* ************************************************************************* */
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TEST( GaussianFactorGraph, constructor )
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{
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// create a graph
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GaussianFactorGraph fg = createSmoother(7);
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// create an ordering
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Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
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GaussianJunctionTree<GaussianFactorGraph> junctionTree(fg, ordering);
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Ordering frontal1; frontal1 += "x5", "x6", "x4";
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Ordering frontal2; frontal2 += "x3", "x2";
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Ordering frontal3; frontal3 += "x1";
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Ordering frontal4; frontal4 += "x7";
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Unordered sep1;
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Unordered sep2; sep2 += "x4";
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Unordered sep3; sep3 += "x2";
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Unordered sep4; sep4 += "x6";
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CHECK(assert_equal(frontal1, junctionTree.root()->frontal()));
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CHECK(assert_equal(sep1, junctionTree.root()->separator()));
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LONGS_EQUAL(5, junctionTree.root()->size());
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CHECK(assert_equal(frontal2, junctionTree.root()->children()[0]->frontal()));
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CHECK(assert_equal(sep2, junctionTree.root()->children()[0]->separator()));
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LONGS_EQUAL(4, junctionTree.root()->children()[0]->size());
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CHECK(assert_equal(frontal3, junctionTree.root()->children()[0]->children()[0]->frontal()));
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CHECK(assert_equal(sep3, junctionTree.root()->children()[0]->children()[0]->separator()));
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LONGS_EQUAL(2, junctionTree.root()->children()[0]->children()[0]->size());
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CHECK(assert_equal(frontal4, junctionTree.root()->children()[1]->frontal()));
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CHECK(assert_equal(sep4, junctionTree.root()->children()[1]->separator()));
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LONGS_EQUAL(2, junctionTree.root()->children()[1]->size());
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}
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/* ************************************************************************* */
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TEST( GaussianFactorGraph, optimizeMultiFrontal )
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{
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// create a graph
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GaussianFactorGraph fg = createSmoother(7);
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// create an ordering
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Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
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// optimize the graph
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// GaussianJunctionTree<GaussianFactorGraph> junctionTree(fg, ordering);
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// VectorConfig actual = junctionTree.optimize();
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//
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// // verify
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// VectorConfig expected = createCorrectDelta();
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//
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// CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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