testHybridEstimation.cpp File Reference

Unit tests for end-to-end Hybrid Estimation. More...

#include <gtsam/discrete/DiscreteBayesNet.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
#include <gtsam/hybrid/HybridNonlinearISAM.h>
#include <gtsam/hybrid/HybridSmoother.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <string>
#include "Switching.h"

Include dependency graph for testHybridEstimation.cpp:

Go to the source code of this file.

Namespaces
	estimation_fixture

Functions
static HybridGaussianFactorGraph::shared_ptr	CreateHybridGaussianFactorGraph ()
static HybridNonlinearFactorGraph	CreateHybridNonlinearFactorGraph ()
AlgebraicDecisionTree< Key >	GetProbPrimeTree (const HybridGaussianFactorGraph &graph)
	Helper method to get the tree of unnormalized probabilities as per the elimination scheme. More...
Switching	estimation_fixture::InitializeEstimationProblem (const size_t K, const double between_sigma, const double measurement_sigma, const std::vector< double > &measurements, const std::string &transitionProbabilityTable, HybridNonlinearFactorGraph &graph, Values &initial)
int	main ()
	TEST (HybridEstimation, CorrectnessViaSampling)
	TEST (HybridEstimation, EliminateSequentialRegression)
	TEST (HybridEstimation, Full)
	TEST (HybridEstimation, IncrementalSmoother)
	TEST (HybridEstimation, ISAM)
	TEST (HybridEstimation, ModeSelection)
	TEST (HybridEstimation, ModeSelection2)
	TEST (HybridEstimation, Probability)
	TEST (HybridEstimation, ProbabilityMultifrontal)
	TEST (HybridEstimation, ValidPruningError)

Variables
std::vector< size_t >	estimation_fixture::discrete_seq
std::vector< double >	estimation_fixture::measurements

Detailed Description

Unit tests for end-to-end Hybrid Estimation.

Author

Varun Agrawal

Definition in file testHybridEstimation.cpp.

Function Documentation

CreateHybridGaussianFactorGraph()

static HybridGaussianFactorGraph::shared_ptr CreateHybridGaussianFactorGraph ( )

static

Definition at line 448 of file testHybridEstimation.cpp.

CreateHybridNonlinearFactorGraph()

static HybridNonlinearFactorGraph CreateHybridNonlinearFactorGraph ( )

static

Definition at line 422 of file testHybridEstimation.cpp.

GetProbPrimeTree()

AlgebraicDecisionTree<Key> GetProbPrimeTree

(

const HybridGaussianFactorGraph &

graph

)

Helper method to get the tree of unnormalized probabilities as per the elimination scheme.

Used as a helper to compute q(\mu | M, Z) which is used by both P(X | M, Z) and P(M | Z).

Parameters

graph

The HybridGaussianFactorGraph to eliminate.

Returns

AlgebraicDecisionTree<Key>

Definition at line 273 of file testHybridEstimation.cpp.

main()

int main

(

)

Definition at line 647 of file testHybridEstimation.cpp.

TEST() [1/10]

TEST	(	HybridEstimation	,
		CorrectnessViaSampling
	)

Definition at line 496 of file testHybridEstimation.cpp.

TEST() [2/10]

TEST	(	HybridEstimation	,
		EliminateSequentialRegression
	)

Definition at line 461 of file testHybridEstimation.cpp.

TEST() [3/10]

TEST	(	HybridEstimation	,
		Full
	)

Definition at line 77 of file testHybridEstimation.cpp.

TEST() [4/10]

TEST	(	HybridEstimation	,
		IncrementalSmoother
	)

Definition at line 119 of file testHybridEstimation.cpp.

TEST() [5/10]

TEST	(	HybridEstimation	,
		ISAM
	)

Definition at line 216 of file testHybridEstimation.cpp.

TEST() [6/10]

TEST	(	HybridEstimation	,
		ModeSelection
	)

Definition at line 528 of file testHybridEstimation.cpp.

TEST() [7/10]

TEST	(	HybridEstimation	,
		ModeSelection2
	)

Definition at line 587 of file testHybridEstimation.cpp.

TEST() [8/10]

TEST	(	HybridEstimation	,
		Probability
	)

Definition at line 318 of file testHybridEstimation.cpp.

TEST() [9/10]

TEST	(	HybridEstimation	,
		ProbabilityMultifrontal
	)

Test for correctness of different branches of the P'(Continuous | Discrete) in the multi-frontal setting. The values should match those of P'(Continuous) for each discrete mode.

Definition at line 357 of file testHybridEstimation.cpp.

TEST() [10/10]

TEST	(	HybridEstimation	,
		ValidPruningError
	)

Definition at line 168 of file testHybridEstimation.cpp.