testGaussianBayesNet.cpp File Reference

Unit tests for GaussianBayesNet. More...

#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianDensity.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/inference/Symbol.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <sstream>

Include dependency graph for testGaussianBayesNet.cpp:

Go to the source code of this file.

Namespaces
	sampling

Functions
int	main ()
	TEST (GaussianBayesNet, Matrix)
	TEST (GaussianBayesNet, Evaluate1)
	TEST (GaussianBayesNet, Evaluate2)
	TEST (GaussianBayesNet, NoisyMatrix)
	TEST (GaussianBayesNet, Optimize)
	TEST (GaussianBayesNet, NoisyOptimize)
	TEST (GaussianBayesNet, optimizeIncomplete)
	TEST (GaussianBayesNet, optimize3)
	TEST (GaussianBayesNet, sample)
	TEST (GaussianBayesNet, MonteCarloIntegration)
	TEST (GaussianBayesNet, ordering)
	TEST (GaussianBayesNet, MatrixStress)
	TEST (GaussianBayesNet, backSubstituteTranspose)
	TEST (GaussianBayesNet, backSubstituteTransposeNoisy)
	TEST (GaussianBayesNet, DeterminantTest)
	TEST (GaussianBayesNet, ComputeSteepestDescentPoint)
	TEST (GaussianBayesNet, Dot)

Variables
static const Key	_x_ = 11
static const Key	_y_ = 22
static const Key	_z_ = 33
static Matrix	sampling::A1 = (Matrix(2, 2) << 1., 2., 3., 4.).finished()
static const Vector2	sampling::b (10, 10)
static const GaussianBayesNet	sampling::gbn
static const Vector2	sampling::mean (20, 40)
static GaussianBayesNet	noisyBayesNet
static const double	sampling::sigma = 0.01
static GaussianBayesNet	smallBayesNet

Detailed Description

Unit tests for GaussianBayesNet.

Author

Frank Dellaert

Definition in file testGaussianBayesNet.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 384 of file testGaussianBayesNet.cpp.

TEST() [1/17]

TEST	(	GaussianBayesNet	,
		Matrix
	)

Definition at line 50 of file testGaussianBayesNet.cpp.

TEST() [2/17]

TEST	(	GaussianBayesNet	,
		Evaluate1
	)

Definition at line 66 of file testGaussianBayesNet.cpp.

TEST() [3/17]

TEST	(	GaussianBayesNet	,
		Evaluate2
	)

Definition at line 88 of file testGaussianBayesNet.cpp.

TEST() [4/17]

TEST	(	GaussianBayesNet	,
		NoisyMatrix
	)

Definition at line 99 of file testGaussianBayesNet.cpp.

TEST() [5/17]

TEST	(	GaussianBayesNet	,
		Optimize
	)

Definition at line 114 of file testGaussianBayesNet.cpp.

TEST() [6/17]

TEST	(	GaussianBayesNet	,
		NoisyOptimize
	)

Definition at line 122 of file testGaussianBayesNet.cpp.

TEST() [7/17]

TEST	(	GaussianBayesNet	,
		optimizeIncomplete
	)

Definition at line 132 of file testGaussianBayesNet.cpp.

TEST() [8/17]

TEST	(	GaussianBayesNet	,
		optimize3
	)

Definition at line 149 of file testGaussianBayesNet.cpp.

TEST() [9/17]

TEST	(	GaussianBayesNet	,
		sample
	)

Definition at line 176 of file testGaussianBayesNet.cpp.

TEST() [10/17]

TEST	(	GaussianBayesNet	,
		MonteCarloIntegration
	)

Definition at line 195 of file testGaussianBayesNet.cpp.

TEST() [11/17]

TEST	(	GaussianBayesNet	,
		ordering
	)

Definition at line 211 of file testGaussianBayesNet.cpp.

TEST() [12/17]

TEST	(	GaussianBayesNet	,
		MatrixStress
	)

Definition at line 219 of file testGaussianBayesNet.cpp.

TEST() [13/17]

TEST	(	GaussianBayesNet	,
		backSubstituteTranspose
	)

Definition at line 239 of file testGaussianBayesNet.cpp.

TEST() [14/17]

TEST	(	GaussianBayesNet	,
		backSubstituteTransposeNoisy
	)

Definition at line 258 of file testGaussianBayesNet.cpp.

TEST() [15/17]

TEST	(	GaussianBayesNet	,
		DeterminantTest
	)

Definition at line 277 of file testGaussianBayesNet.cpp.

TEST() [16/17]

TEST	(	GaussianBayesNet	,
		ComputeSteepestDescentPoint
	)

Definition at line 307 of file testGaussianBayesNet.cpp.

TEST() [17/17]

TEST	(	GaussianBayesNet	,
		Dot
	)

Definition at line 361 of file testGaussianBayesNet.cpp.

Variable Documentation

_x_

const Key _x_ = 11

static

Definition at line 37 of file testGaussianBayesNet.cpp.

_y_

const Key _y_ = 22

static

Definition at line 37 of file testGaussianBayesNet.cpp.

_z_

const Key _z_ = 33

static

Definition at line 37 of file testGaussianBayesNet.cpp.

noisyBayesNet

GaussianBayesNet noisyBayesNet

static

Initial value:

= {
    std::make_shared<GaussianConditional>(_x_, Vector1::Constant(9), I_1x1, _y_, I_1x1,
                        noiseModel::Isotropic::Sigma(1, 2.0)),
    std::make_shared<GaussianConditional>(_y_, Vector1::Constant(5), I_1x1,
                        noiseModel::Isotropic::Sigma(1, 3.0))}

Definition at line 43 of file testGaussianBayesNet.cpp.

smallBayesNet

GaussianBayesNet smallBayesNet

static

Initial value:

= {
    std::make_shared<GaussianConditional>(_x_, Vector1::Constant(9), I_1x1, _y_, I_1x1),
    std::make_shared<GaussianConditional>(_y_, Vector1::Constant(5), I_1x1)}

Definition at line 39 of file testGaussianBayesNet.cpp.