101 lines
3.2 KiB
C++
101 lines
3.2 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 testJunctionTree.cpp
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* @brief Unit tests for Junction Tree
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* @author Kai Ni
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* @author Frank Dellaert
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*/
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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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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#define GTSAM_MAGIC_KEY
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#include <gtsam/nonlinear/Ordering.h>
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#include <gtsam/inference/SymbolicFactorGraph.h>
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#include <gtsam/inference/JunctionTree.h>
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#include <gtsam/inference/ClusterTree-inl.h>
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#include <gtsam/inference/JunctionTree-inl.h>
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#include <gtsam/inference/Factor-inl.h>
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using namespace gtsam;
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typedef JunctionTree<SymbolicFactorGraph> SymbolicJunctionTree;
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typedef BayesTree<Conditional> SymbolicBayesTree;
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/* ************************************************************************* *
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* x1 - x2 - x3 - x4
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* x3 x4
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* x2 x1 : x3
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****************************************************************************/
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TEST( JunctionTree, constructor )
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{
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const Index x2=0, x1=1, x3=2, x4=3;
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SymbolicFactorGraph fg;
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fg.push_factor(x2,x1);
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fg.push_factor(x2,x3);
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fg.push_factor(x3,x4);
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SymbolicJunctionTree actual(fg);
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vector<Index> frontal1; frontal1 += x3, x4;
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vector<Index> frontal2; frontal2 += x2, x1;
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vector<Index> sep1;
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vector<Index> sep2; sep2 += x3;
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CHECK(assert_equal(frontal1, actual.root()->frontal));
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CHECK(assert_equal(sep1, actual.root()->separator));
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LONGS_EQUAL(1, actual.root()->size());
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CHECK(assert_equal(frontal2, actual.root()->children().front()->frontal));
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CHECK(assert_equal(sep2, actual.root()->children().front()->separator));
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LONGS_EQUAL(2, actual.root()->children().front()->size());
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CHECK(assert_equal(*fg[2], *(*actual.root())[0]));
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CHECK(assert_equal(*fg[0], *(*actual.root()->children().front())[0]));
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CHECK(assert_equal(*fg[1], *(*actual.root()->children().front())[1]));
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}
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/* ************************************************************************* *
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* x1 - x2 - x3 - x4
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* x3 x4
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* x2 x1 : x3
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****************************************************************************/
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TEST( JunctionTree, eliminate)
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{
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const Index x2=0, x1=1, x3=2, x4=3;
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SymbolicFactorGraph fg;
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fg.push_factor(x2,x1);
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fg.push_factor(x2,x3);
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fg.push_factor(x3,x4);
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SymbolicJunctionTree jt(fg);
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SymbolicBayesTree::sharedClique actual = jt.eliminate();
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BayesNet<Conditional> bn = *Inference::Eliminate(fg);
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SymbolicBayesTree expected(bn);
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// cout << "BT from JT:\n";
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// actual->printTree("");
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CHECK(assert_equal(*expected.root(), *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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