testHybridConditional.cpp
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 
20 #include "TinyHybridExample.h"
21 
22 // Include for test suite
24 
25 using namespace gtsam;
26 
30 
31 /* ****************************************************************************/
32 // Check invariants for all conditionals in a tiny Bayes net.
33 TEST(HybridConditional, Invariants) {
34  // Create hybrid Bayes net p(z|x,m)p(x)P(m)
35  auto bn = tiny::createHybridBayesNet();
36 
37  // Create values to check invariants.
38  const VectorValues c{{X(0), Vector1(5.1)}, {Z(0), Vector1(4.9)}};
39  const DiscreteValues d{{M(0), 1}};
40  const HybridValues values{c, d};
41 
42  // Check invariants for p(z|x,m)
43  auto hc0 = bn.at(0);
44  CHECK(hc0->isHybrid());
45 
46  // Check invariants as a HybridGaussianConditional.
47  const auto conditional = hc0->asHybrid();
49 
50  // Check invariants as a HybridConditional.
52 
53  // Check invariants for p(x)
54  auto hc1 = bn.at(1);
55  CHECK(hc1->isContinuous());
56 
57  // Check invariants as a GaussianConditional.
58  const auto gaussian = hc1->asGaussian();
61 
62  // Check invariants as a HybridConditional.
64 
65  // Check invariants for p(m)
66  auto hc2 = bn.at(2);
67  CHECK(hc2->isDiscrete());
68 
69  // Check invariants as a DiscreteConditional.
70  const auto discrete = hc2->asDiscrete();
73 
74  // Check invariants as a HybridConditional.
76 }
77 
78 /* ************************************************************************* */
79 int main() {
80  TestResult tr;
81  return TestRegistry::runAllTests(tr);
82 }
83 /* ************************************************************************* */
TestRegistry::runAllTests
static int runAllTests(TestResult &result)
Definition: TestRegistry.cpp:27
gtsam::Vector1
Eigen::Matrix< double, 1, 1 > Vector1
Definition: Vector.h:41
gtsam::HybridValues
Definition: HybridValues.h:37
gtsam::HybridConditional
Definition: HybridConditional.h:60
d
static const double d[K][N]
Definition: igam.h:11
EXPECT
#define EXPECT(condition)
Definition: Test.h:150
TestHarness.h
gtsam::symbol_shorthand::M
Key M(std::uint64_t j)
Definition: inference/Symbol.h:160
c
Scalar Scalar * c
Definition: benchVecAdd.cpp:17
different_sigmas::values
HybridValues values
Definition: testHybridBayesNet.cpp:245
X
#define X
Definition: icosphere.cpp:20
gtsam::symbol_shorthand::X
Key X(std::uint64_t j)
Definition: inference/Symbol.h:171
gtsam::VectorValues
Definition: VectorValues.h:74
gtsam::symbol_shorthand::Z
Key Z(std::uint64_t j)
Definition: inference/Symbol.h:173
gtsam::Conditional< HybridGaussianFactor, HybridGaussianConditional >::CheckInvariants
static bool CheckInvariants(const HybridGaussianConditional &conditional, const VALUES &x)
Definition: Conditional-inst.h:69
TinyHybridExample.h
TestResult
Definition: TestResult.h:26
gtsam
traits
Definition: SFMdata.h:40
gtsam::TEST
TEST(SmartFactorBase, Pinhole)
Definition: testSmartFactorBase.cpp:38
gtsam::DiscreteValues
Definition: DiscreteValues.h:34
CHECK
#define CHECK(condition)
Definition: Test.h:108
gtsam::tiny::createHybridBayesNet
HybridBayesNet createHybridBayesNet(size_t num_measurements=1, bool manyModes=false)
Definition: TinyHybridExample.h:39
main
int main()
Definition: testHybridConditional.cpp:79
Z
#define Z
Definition: icosphere.cpp:21
HybridConditional.h
M
Matrix< RealScalar, Dynamic, Dynamic > M
Definition: bench_gemm.cpp:51


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