152 lines
4.6 KiB
C++
152 lines
4.6 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 testISAM.cpp
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* @brief Unit tests for ISAM
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* @author Michael Kaess
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*/
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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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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/inference/BayesNet.h>
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#include <gtsam/inference/IndexConditional.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/ISAM.h>
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using namespace std;
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using namespace gtsam;
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typedef ISAM<IndexConditional> SymbolicISAM;
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/* ************************************************************************* */
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// Some numbers that should be consistent among all smoother tests
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//static double sigmax1 = 0.786153, sigmax2 = 0.687131 ,sigmax3 = 0.671512,
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//sigmax4 = 0.669534, sigmax5 = sigmax3,, sigmax7 = sigmax1, sigmax6 = sigmax2;
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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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//
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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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//// 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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/* ************************************************************************* */
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