77 lines
2.5 KiB
C++
77 lines
2.5 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 testGaussianISAM.cpp
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* @brief Unit tests for GaussianISAM
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* @author Michael Kaess
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <tests/smallExample.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/linear/GaussianISAM.h>
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#include <gtsam/inference/Ordering.h>
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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 <boost/range/adaptor/map.hpp>
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namespace br { using namespace boost::adaptors; using namespace boost::range; }
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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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using symbol_shorthand::X;
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using symbol_shorthand::L;
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/* ************************************************************************* */
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TEST( ISAM, iSAM_smoother )
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{
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Ordering ordering;
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for (int t = 1; t <= 7; t++) ordering += X(t);
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// Create smoother with 7 nodes
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GaussianFactorGraph smoother = createSmoother(7);
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// run iSAM for every factor
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GaussianISAM actual;
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BOOST_FOREACH(boost::shared_ptr<GaussianFactor> factor, smoother) {
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GaussianFactorGraph factorGraph;
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factorGraph.push_back(factor);
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actual.update(factorGraph);
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}
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// Create expected Bayes Tree by solving smoother with "natural" ordering
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GaussianBayesTree expected = *smoother.eliminateMultifrontal(ordering);
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// Verify sigmas in the bayes tree
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BOOST_FOREACH(const GaussianBayesTree::sharedClique& clique, expected.nodes() | br::map_values) {
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GaussianConditional::shared_ptr conditional = clique->conditional();
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EXPECT(!conditional->get_model());
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}
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// Check whether BayesTree is correct
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EXPECT(assert_equal(GaussianFactorGraph(expected).augmentedHessian(), GaussianFactorGraph(actual).augmentedHessian()));
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// obtain solution
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VectorValues e; // expected solution
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for (int t = 1; t <= 7; t++) e.insert(X(t), Vector::Zero(2));
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VectorValues optimized = actual.optimize(); // actual solution
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EXPECT(assert_equal(e, optimized));
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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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