54 lines
2.0 KiB
C++
54 lines
2.0 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 testSymbolicFactor.cpp
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* @brief Unit tests for a symbolic IndexFactor
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* @author Frank Dellaert
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/inference/IndexFactor.h>
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#include <gtsam/inference/IndexConditional.h>
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#include <boost/assign/std/vector.hpp>
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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/* ************************************************************************* */
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TEST(SymbolicFactor, eliminate) {
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vector<Index> keys; keys += 2, 3, 4, 6, 7, 9, 10, 11;
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IndexFactor actual(keys.begin(), keys.end());
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BayesNet<IndexConditional> fragment = *actual.eliminate(3);
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IndexFactor expected(keys.begin()+3, keys.end());
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IndexConditional::shared_ptr expected0 = IndexConditional::FromRange(keys.begin(), keys.end(), 1);
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IndexConditional::shared_ptr expected1 = IndexConditional::FromRange(keys.begin()+1, keys.end(), 1);
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IndexConditional::shared_ptr expected2 = IndexConditional::FromRange(keys.begin()+2, keys.end(), 1);
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CHECK(assert_equal(fragment.size(), size_t(3)));
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CHECK(assert_equal(expected, actual));
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BayesNet<IndexConditional>::const_iterator fragmentCond = fragment.begin();
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CHECK(assert_equal(**fragmentCond++, *expected0));
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CHECK(assert_equal(**fragmentCond++, *expected1));
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CHECK(assert_equal(**fragmentCond++, *expected2));
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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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