145 lines
4.0 KiB
C++
145 lines
4.0 KiB
C++
/**
|
|
* @file testISAM.cpp
|
|
* @brief Unit tests for ISAM
|
|
* @author Michael Kaess
|
|
*/
|
|
|
|
#include <boost/foreach.hpp>
|
|
#include <boost/assign/std/list.hpp> // for operator +=
|
|
using namespace boost::assign;
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#define GTSAM_MAGIC_KEY
|
|
|
|
#include "SymbolicBayesNet.h"
|
|
#include "SymbolicFactorGraph.h"
|
|
#include "Ordering.h"
|
|
#include "GaussianBayesNet.h"
|
|
#include "ISAM-inl.h"
|
|
#include "smallExample.h"
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
typedef ISAM<SymbolicConditional> SymbolicISAM;
|
|
|
|
/* ************************************************************************* */
|
|
// Some numbers that should be consistent among all smoother tests
|
|
|
|
double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 =
|
|
0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1;
|
|
|
|
/* ************************************************************************* *
|
|
|
|
// SLAM example from RSS sqrtSAM paper
|
|
SymbolicConditional::shared_ptr x3(new SymbolicConditional("x3")),
|
|
x2(new SymbolicConditional("x2","x3")),
|
|
x1(new SymbolicConditional("x1","x2","x3")),
|
|
l1(new SymbolicConditional("l1","x1","x2")),
|
|
l2(new SymbolicConditional("l2","x1","x3"));
|
|
|
|
// ISAM for sqrtSAM example
|
|
SymbolicISAM createSlamSymbolicISAM(){
|
|
// Create using insert
|
|
SymbolicISAM bayesTree_slam;
|
|
bayesTree_slam.insert(x3);
|
|
bayesTree_slam.insert(x2);
|
|
bayesTree_slam.insert(x1);
|
|
bayesTree_slam.insert(l2);
|
|
bayesTree_slam.insert(l1);
|
|
return bayesTree_slam;
|
|
}
|
|
|
|
/* ************************************************************************* *
|
|
|
|
// Conditionals for ASIA example from the tutorial with A and D evidence
|
|
SymbolicConditional::shared_ptr
|
|
B(new SymbolicConditional("B")),
|
|
L(new SymbolicConditional("L", "B")),
|
|
E(new SymbolicConditional("E", "B", "L")),
|
|
S(new SymbolicConditional("S", "L", "B")),
|
|
T(new SymbolicConditional("T", "E", "L")),
|
|
X(new SymbolicConditional("X", "E"));
|
|
|
|
// ISAM for Asia example
|
|
SymbolicISAM createAsiaSymbolicISAM() {
|
|
SymbolicISAM bayesTree;
|
|
bayesTree.insert(B);
|
|
bayesTree.insert(L);
|
|
bayesTree.insert(E);
|
|
bayesTree.insert(S);
|
|
bayesTree.insert(T);
|
|
bayesTree.insert(X);
|
|
return bayesTree;
|
|
}
|
|
|
|
/* ************************************************************************* *
|
|
TEST( ISAM, iSAM )
|
|
{
|
|
SymbolicISAM bayesTree = createAsiaSymbolicISAM();
|
|
|
|
// Now we modify the Bayes tree by inserting a new factor over B and S
|
|
|
|
// New conditionals in modified top of the tree
|
|
SymbolicConditional::shared_ptr
|
|
S_(new SymbolicConditional("S")),
|
|
B_(new SymbolicConditional("B", "S")),
|
|
L_(new SymbolicConditional("L", "B", "S"));
|
|
|
|
// Create expected Bayes tree
|
|
SymbolicISAM expected;
|
|
expected.insert(S_);
|
|
expected.insert(B_);
|
|
expected.insert(L_);
|
|
expected.insert(E);
|
|
expected.insert(T);
|
|
expected.insert(X);
|
|
|
|
// create new factors to be inserted
|
|
SymbolicFactorGraph factorGraph;
|
|
factorGraph.push_factor("B","S");
|
|
factorGraph.push_factor("B");
|
|
|
|
// do incremental inference
|
|
bayesTree.update(factorGraph);
|
|
|
|
// Check whether the same
|
|
CHECK(assert_equal(expected,bayesTree));
|
|
}
|
|
|
|
/* ************************************************************************* *
|
|
TEST( ISAM, iSAM_slam )
|
|
{
|
|
// Create using insert
|
|
SymbolicISAM bayesTree_slam = createSlamSymbolicISAM();
|
|
|
|
//New conditionals for the expected Bayes tree
|
|
SymbolicConditional::shared_ptr
|
|
l1_(new SymbolicConditional("l1","x1","x2","x3"));
|
|
|
|
// Create expected Bayes tree
|
|
SymbolicISAM expected_slam;
|
|
expected_slam.insert(x3);
|
|
expected_slam.insert(x2);
|
|
expected_slam.insert(x1);
|
|
expected_slam.insert(l1_);
|
|
expected_slam.insert(l2);
|
|
|
|
|
|
// create new factors to be inserted
|
|
SymbolicFactorGraph factorGraph_slam;
|
|
factorGraph_slam.push_factor("x3","l1");
|
|
factorGraph_slam.push_factor("x3");
|
|
|
|
// do incremental inference
|
|
bayesTree_slam.update(factorGraph_slam);
|
|
|
|
// Check whether the same
|
|
CHECK(assert_equal(expected_slam,bayesTree_slam));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|