105 lines
2.5 KiB
C++
105 lines
2.5 KiB
C++
/**
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* @file testSymbolicBayesNet.cpp
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* @brief Unit tests for a symbolic Bayes chain
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* @author Frank Dellaert
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*/
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#include <boost/assign/list_inserter.hpp> // for 'insert()'
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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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#define GTSAM_MAGIC_KEY
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#include "Ordering.h"
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#include "smallExample.h"
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#include "SymbolicBayesNet.h"
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#include "SymbolicFactorGraph.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, constructor )
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{
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// Create manually
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SymbolicConditional::shared_ptr
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x2(new SymbolicConditional("x2","l1", "x1")),
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l1(new SymbolicConditional("l1","x1")),
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x1(new SymbolicConditional("x1"));
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SymbolicBayesNet expected;
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expected.push_back(x2);
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expected.push_back(l1);
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expected.push_back(x1);
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// Create from a factor graph
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GaussianFactorGraph factorGraph = createGaussianFactorGraph();
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SymbolicFactorGraph fg(factorGraph);
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// eliminate it
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Ordering ordering;
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ordering += "x2","l1","x1";
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SymbolicBayesNet actual = fg.eliminate(ordering);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, pop_front )
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{
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SymbolicConditional::shared_ptr
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A(new SymbolicConditional("A","B","C")),
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B(new SymbolicConditional("B","C")),
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C(new SymbolicConditional("C"));
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// Expected after pop_front
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SymbolicBayesNet expected;
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expected.push_back(B);
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expected.push_back(C);
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// Actual
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SymbolicBayesNet actual;
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actual.push_back(A);
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actual.push_back(B);
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actual.push_back(C);
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actual.pop_front();
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( SymbolicBayesNet, combine )
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{
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SymbolicConditional::shared_ptr
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A(new SymbolicConditional("A","B","C")),
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B(new SymbolicConditional("B","C")),
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C(new SymbolicConditional("C"));
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// p(A|BC)
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SymbolicBayesNet p_ABC;
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p_ABC.push_back(A);
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// P(BC)=P(B|C)P(C)
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SymbolicBayesNet p_BC;
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p_BC.push_back(B);
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p_BC.push_back(C);
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// P(ABC) = P(A|BC) P(BC)
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p_ABC.push_back(p_BC);
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SymbolicBayesNet expected;
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expected.push_back(A);
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expected.push_back(B);
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expected.push_back(C);
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CHECK(assert_equal(expected,p_ABC));
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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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