testSignature.cpp

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/* ----------------------------------------------------------------------------

 * 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/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/discrete/Signature.h>

#include <boost/assign/std/vector.hpp>
#include <vector>

using namespace std;
using namespace gtsam;
using namespace boost::assign;

DiscreteKey X(0, 2), Y(1, 3), Z(2, 2);

/* ************************************************************************* */
TEST(testSignature, simple_conditional) {
  Signature sig(X | Y = "1/1 2/3 1/4");
  Signature::Table table = *sig.table();
  vector<double> row[3]{{0.5, 0.5}, {0.4, 0.6}, {0.2, 0.8}};
  CHECK(row[0] == table[0]);
  CHECK(row[1] == table[1]);
  CHECK(row[2] == table[2]);
  DiscreteKey actKey = sig.key();
  LONGS_EQUAL(X.first, actKey.first);

  DiscreteKeys actKeys = sig.discreteKeys();
  LONGS_EQUAL(2, actKeys.size());
  LONGS_EQUAL(X.first, actKeys.front().first);
  LONGS_EQUAL(Y.first, actKeys.back().first);

  vector<double> actCpt = sig.cpt();
  EXPECT_LONGS_EQUAL(6, actCpt.size());
}

/* ************************************************************************* */
TEST(testSignature, simple_conditional_nonparser) {
  Signature::Table table;
  Signature::Row row1, row2, row3;
  row1 += 1.0, 1.0;
  row2 += 2.0, 3.0;
  row3 += 1.0, 4.0;
  table += row1, row2, row3;

  Signature sig(X | Y = table);
  DiscreteKey actKey = sig.key();
  EXPECT_LONGS_EQUAL(X.first, actKey.first);

  DiscreteKeys actKeys = sig.discreteKeys();
  LONGS_EQUAL(2, actKeys.size());
  LONGS_EQUAL(X.first, actKeys.front().first);
  LONGS_EQUAL(Y.first, actKeys.back().first);

  vector<double> actCpt = sig.cpt();
  EXPECT_LONGS_EQUAL(6, actCpt.size());
}

/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */