testHybridFactorGraph.cpp

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 * See LICENSE for the license information
 * -------------------------------------------------------------------------- */
 
#include <CppUnitLite/Test.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/utilities.h>
#include <gtsam/hybrid/HybridFactorGraph.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
 
using namespace std;
using namespace gtsam;
using noiseModel::Isotropic;
using symbol_shorthand::L;
using symbol_shorthand::M;
using symbol_shorthand::X;
 
/* ****************************************************************************
 * Test that any linearizedFactorGraph gaussian factors are appended to the
 * existing gaussian factor graph in the hybrid factor graph.
 */
TEST(HybridFactorGraph, Constructor) {
  // Initialize the hybrid factor graph
  HybridFactorGraph fg;
}
 
/* ************************************************************************* */
// Test if methods to get keys work as expected.
TEST(HybridFactorGraph, Keys) {
  HybridGaussianFactorGraph hfg;
 
  // Add prior on x0
  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
 
  // Add factor between x0 and x1
  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
  // Add a gaussian mixture factor ϕ(x1, c1)
  DiscreteKey m1(M(1), 2);
  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
      M(1), std::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
      std::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
  hfg.add(GaussianMixtureFactor({X(1)}, {m1}, dt));
 
  KeySet expected_continuous{X(0), X(1)};
  EXPECT(
      assert_container_equality(expected_continuous, hfg.continuousKeySet()));
 
  KeySet expected_discrete{M(1)};
  EXPECT(assert_container_equality(expected_discrete, hfg.discreteKeySet()));
}
 
/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */