testHybridGaussianFactorGraph.cpp File Reference

#include <CppUnitLite/Test.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/GaussianMixture.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/hybrid/HybridConditional.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/hybrid/HybridGaussianISAM.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/inference/BayesNet.h>
#include <gtsam/inference/DotWriter.h>
#include <gtsam/inference/Key.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/JacobianFactor.h>
#include <algorithm>
#include <cstddef>
#include <functional>
#include <iostream>
#include <iterator>
#include <numeric>
#include <vector>
#include "Switching.h"
#include "TinyHybridExample.h"

Include dependency graph for testHybridGaussianFactorGraph.cpp:

Go to the source code of this file.

Functions
void	dotPrint (const HybridGaussianFactorGraph::shared_ptr &hfg, const HybridBayesTree::shared_ptr &hbt, const Ordering &ordering)
std::mt19937_64	kRng (42)
int	main ()
bool	ratioTest (const HybridBayesNet &bn, const VectorValues &measurements, const HybridBayesNet &posterior, size_t num_samples=100)
bool	ratioTest (const HybridBayesNet &bn, const VectorValues &measurements, const HybridGaussianFactorGraph &fg, size_t num_samples=100)
	TEST (HybridGaussianFactorGraph, assembleGraphTree)
	TEST (HybridGaussianFactorGraph, Conditionals)
	TEST (HybridGaussianFactorGraph, Creation)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalCLG)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalSimple)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique)
	TEST (HybridGaussianFactorGraph, eliminateFullSequentialEqualChance)
	TEST (HybridGaussianFactorGraph, eliminateFullSequentialSimple)
	TEST (HybridGaussianFactorGraph, EliminateMultifrontal)
	TEST (HybridGaussianFactorGraph, EliminateSequential)
	TEST (HybridGaussianFactorGraph, EliminateSwitchingNetwork)
	TEST (HybridGaussianFactorGraph, EliminateTiny1)
	TEST (HybridGaussianFactorGraph, EliminateTiny1Swapped)
	TEST (HybridGaussianFactorGraph, EliminateTiny2)
	TEST (HybridGaussianFactorGraph, EliminateTiny22)
	TEST (HybridGaussianFactorGraph, ErrorAndProbPrime)
	TEST (HybridGaussianFactorGraph, ErrorAndProbPrimeTree)
	TEST (HybridGaussianFactorGraph, optimize)
	TEST (HybridGaussianFactorGraph, Switching)
	TEST (HybridGaussianFactorGraph, SwitchingISAM)
	TEST (HybridGaussianFactorGraph, SwitchingTwoVar)

Function Documentation

dotPrint()

void dotPrint	(	const HybridGaussianFactorGraph::shared_ptr &	hfg,
		const HybridBayesTree::shared_ptr &	hbt,
		const Ordering &	ordering
	)

Definition at line 289 of file testHybridGaussianFactorGraph.cpp.

kRng()

std::mt19937_64 kRng

(

42

)

main()

int main

(

)

Definition at line 911 of file testHybridGaussianFactorGraph.cpp.

ratioTest() [1/2]

bool ratioTest	(	const HybridBayesNet &	bn,
		const VectorValues &	measurements,
		const HybridBayesNet &	posterior,
		size_t	num_samples = 100
	)

Definition at line 663 of file testHybridGaussianFactorGraph.cpp.

ratioTest() [2/2]

bool ratioTest	(	const HybridBayesNet &	bn,
		const VectorValues &	measurements,
		const HybridGaussianFactorGraph &	fg,
		size_t	num_samples = 100
	)

Definition at line 642 of file testHybridGaussianFactorGraph.cpp.

TEST() [1/21]

TEST	(	HybridGaussianFactorGraph	,
		assembleGraphTree
	)

Definition at line 604 of file testHybridGaussianFactorGraph.cpp.

TEST() [2/21]

TEST	(	HybridGaussianFactorGraph	,
		Conditionals
	)

Definition at line 517 of file testHybridGaussianFactorGraph.cpp.

TEST() [3/21]

TEST	(	HybridGaussianFactorGraph	,
		Creation
	)

Definition at line 65 of file testHybridGaussianFactorGraph.cpp.

TEST() [4/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalCLG
	)

Definition at line 199 of file testHybridGaussianFactorGraph.cpp.

TEST() [5/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalSimple
	)

Definition at line 172 of file testHybridGaussianFactorGraph.cpp.

TEST() [6/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalTwoClique
	)

Definition at line 233 of file testHybridGaussianFactorGraph.cpp.

TEST() [7/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullSequentialEqualChance
	)

Definition at line 118 of file testHybridGaussianFactorGraph.cpp.

TEST() [8/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullSequentialSimple
	)

Definition at line 145 of file testHybridGaussianFactorGraph.cpp.

TEST() [9/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateMultifrontal
	)

Definition at line 99 of file testHybridGaussianFactorGraph.cpp.

TEST() [10/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateSequential
	)

Definition at line 87 of file testHybridGaussianFactorGraph.cpp.

TEST() [11/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateSwitchingNetwork
	)

Definition at line 830 of file testHybridGaussianFactorGraph.cpp.

TEST() [12/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny1
	)

Definition at line 685 of file testHybridGaussianFactorGraph.cpp.

TEST() [13/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny1Swapped
	)

Definition at line 720 of file testHybridGaussianFactorGraph.cpp.

TEST() [14/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny2
	)

Definition at line 776 of file testHybridGaussianFactorGraph.cpp.

TEST() [15/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny22
	)

Definition at line 809 of file testHybridGaussianFactorGraph.cpp.

TEST() [16/21]

TEST	(	HybridGaussianFactorGraph	,
		ErrorAndProbPrime
	)

Definition at line 556 of file testHybridGaussianFactorGraph.cpp.

TEST() [17/21]

TEST	(	HybridGaussianFactorGraph	,
		ErrorAndProbPrimeTree
	)

Definition at line 575 of file testHybridGaussianFactorGraph.cpp.

TEST() [18/21]

TEST	(	HybridGaussianFactorGraph	,
		optimize
	)

Definition at line 494 of file testHybridGaussianFactorGraph.cpp.

TEST() [19/21]

TEST	(	HybridGaussianFactorGraph	,
		Switching
	)

Definition at line 305 of file testHybridGaussianFactorGraph.cpp.

TEST() [20/21]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingISAM
	)

Definition at line 362 of file testHybridGaussianFactorGraph.cpp.

TEST() [21/21]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingTwoVar
	)

Definition at line 423 of file testHybridGaussianFactorGraph.cpp.