testGraph.cpp
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #include <gtsam/slam/BetweenFactor.h>
20 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
21 #include <gtsam/linear/GaussianFactorGraph.h>
22 #include <gtsam/linear/JacobianFactor.h>
23 #include <gtsam/inference/graph.h>
24 #include <gtsam/inference/Symbol.h>
25 #include <gtsam/geometry/Pose2.h>
26 
27 #include <CppUnitLite/TestHarness.h>
28 
29 #include <memory>
30 
31 #include <iostream>
32 
33 using namespace std;
34 using namespace gtsam;
35 
36 /* ************************************************************************* */
37 // x1 -> x2
38 // -> x3 -> x4
39 // -> x5
40 TEST ( Ordering, predecessorMap2Keys ) {
41  PredecessorMap<Key> p_map;
42  p_map.insert(1,1);
43  p_map.insert(2,1);
44  p_map.insert(3,1);
45  p_map.insert(4,3);
46  p_map.insert(5,1);
47 
48  list<Key> expected{4, 5, 3, 2, 1};
49 
50  list<Key> actual = predecessorMap2Keys<Key>(p_map);
51  LONGS_EQUAL((long)expected.size(), (long)actual.size());
52 
53  list<Key>::const_iterator it1 = expected.begin();
54  list<Key>::const_iterator it2 = actual.begin();
55  for(; it1!=expected.end(); it1++, it2++)
56  CHECK(*it1 == *it2)
57 }
58 
59 /* ************************************************************************* */
60 TEST( Graph, predecessorMap2Graph )
61 {
62  typedef SGraph<string>::Vertex SVertex;
63  SGraph<Key> graph;
64  SVertex root;
65  map<Key, SVertex> key2vertex;
66 
67  PredecessorMap<Key> p_map;
68  p_map.insert(1, 2);
69  p_map.insert(2, 2);
70  p_map.insert(3, 2);
71  std::tie(graph, root, key2vertex) = predecessorMap2Graph<SGraph<Key>, SVertex, Key>(p_map);
72 
73  LONGS_EQUAL(3, (long)boost::num_vertices(graph));
74  CHECK(root == key2vertex[2]);
75 }
76 
77 /* ************************************************************************* */
78 TEST( Graph, composePoses )
79 {
80  NonlinearFactorGraph graph;
81  SharedNoiseModel cov = noiseModel::Unit::Create(3);
82  Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9);
83  Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3);
84  graph += BetweenFactor<Pose2>(1,2, p12, cov);
85  graph += BetweenFactor<Pose2>(2,3, p23, cov);
86  graph += BetweenFactor<Pose2>(4,3, p43, cov);
87 
88  PredecessorMap<Key> tree;
89  tree.insert(1,2);
90  tree.insert(2,2);
91  tree.insert(3,2);
92  tree.insert(4,3);
93 
94  Pose2 rootPose = p2;
95 
96  std::shared_ptr<Values> actual = composePoses<NonlinearFactorGraph, BetweenFactor<Pose2>, Pose2, Key> (graph, tree, rootPose);
97 
98  Values expected;
99  expected.insert(1, p1);
100  expected.insert(2, p2);
101  expected.insert(3, p3);
102  expected.insert(4, p4);
103 
104  LONGS_EQUAL(4, (long)actual->size());
105  CHECK(assert_equal(expected, *actual));
106 }
107 
108 /* ************************************************************************* */
109 TEST( GaussianFactorGraph, findMinimumSpanningTree )
110 {
111  GaussianFactorGraph g;
112  Matrix I = I_2x2;
113  Vector2 b(0, 0);
114  const SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(0.5, 0.5));
115  using namespace symbol_shorthand;
116  g += JacobianFactor(X(1), I, X(2), I, b, model);
117  g += JacobianFactor(X(1), I, X(3), I, b, model);
118  g += JacobianFactor(X(1), I, X(4), I, b, model);
119  g += JacobianFactor(X(2), I, X(3), I, b, model);
120  g += JacobianFactor(X(2), I, X(4), I, b, model);
121  g += JacobianFactor(X(3), I, X(4), I, b, model);
122 
123  PredecessorMap<Key> tree = findMinimumSpanningTree<GaussianFactorGraph, Key, JacobianFactor>(g);
124  EXPECT_LONGS_EQUAL(X(1),tree[X(1)]);
125  EXPECT_LONGS_EQUAL(X(1),tree[X(2)]);
126  EXPECT_LONGS_EQUAL(X(1),tree[X(3)]);
127  EXPECT_LONGS_EQUAL(X(1),tree[X(4)]);
128 
129  // we add a disconnected component - does not work yet
130  // g += JacobianFactor(X(5), I, X(6), I, b, model);
131  //
132  // PredecessorMap<Key> forest = findMinimumSpanningTree<GaussianFactorGraph, Key, JacobianFactor>(g);
133  // EXPECT_LONGS_EQUAL(X(1),forest[X(1)]);
134  // EXPECT_LONGS_EQUAL(X(1),forest[X(2)]);
135  // EXPECT_LONGS_EQUAL(X(1),forest[X(3)]);
136  // EXPECT_LONGS_EQUAL(X(1),forest[X(4)]);
137  // EXPECT_LONGS_EQUAL(X(5),forest[X(5)]);
138  // EXPECT_LONGS_EQUAL(X(5),forest[X(6)]);
139 }
140 
142 // SL-FIX TEST( GaussianFactorGraph, split )
143 //{
144 // GaussianFactorGraph g;
145 // Matrix I = eye(2);
146 // Vector b = Vector_(0, 0, 0);
147 // g += X(1), I, X(2), I, b, model;
148 // g += X(1), I, X(3), I, b, model;
149 // g += X(1), I, X(4), I, b, model;
150 // g += X(2), I, X(3), I, b, model;
151 // g += X(2), I, X(4), I, b, model;
152 //
153 // PredecessorMap<string> tree;
154 // tree[X(1)] = X(1);
155 // tree[X(2)] = X(1);
156 // tree[X(3)] = X(1);
157 // tree[X(4)] = X(1);
158 //
159 // GaussianFactorGraph Ab1, Ab2;
160 // g.split<string, GaussianFactor>(tree, Ab1, Ab2);
161 // LONGS_EQUAL(3, Ab1.size());
162 // LONGS_EQUAL(2, Ab2.size());
163 //}
164 
166 // SL-FIX TEST( FactorGraph, splitMinimumSpanningTree )
167 //{
168 // SymbolicFactorGraph G;
169 // G.push_factor("x1", "x2");
170 // G.push_factor("x1", "x3");
171 // G.push_factor("x1", "x4");
172 // G.push_factor("x2", "x3");
173 // G.push_factor("x2", "x4");
174 // G.push_factor("x3", "x4");
175 //
176 // SymbolicFactorGraph T, C;
177 // std::tie(T, C) = G.splitMinimumSpanningTree();
178 //
179 // SymbolicFactorGraph expectedT, expectedC;
180 // expectedT.push_factor("x1", "x2");
181 // expectedT.push_factor("x1", "x3");
182 // expectedT.push_factor("x1", "x4");
183 // expectedC.push_factor("x2", "x3");
184 // expectedC.push_factor("x2", "x4");
185 // expectedC.push_factor("x3", "x4");
186 // CHECK(assert_equal(expectedT,T));
187 // CHECK(assert_equal(expectedC,C));
188 //}
189 
192 // * x1 - x2 - x3 - x4 - x5
193 // * | | / |
194 // * l1 l2 l3
195 // */
196 // SL-FIX TEST( FactorGraph, removeSingletons )
197 //{
198 // SymbolicFactorGraph G;
199 // G.push_factor("x1", "x2");
200 // G.push_factor("x2", "x3");
201 // G.push_factor("x3", "x4");
202 // G.push_factor("x4", "x5");
203 // G.push_factor("x2", "l1");
204 // G.push_factor("x3", "l2");
205 // G.push_factor("x4", "l2");
206 // G.push_factor("x4", "l3");
207 //
208 // SymbolicFactorGraph singletonGraph;
209 // set<Symbol> singletons;
210 // std::tie(singletonGraph, singletons) = G.removeSingletons();
211 //
212 // set<Symbol> singletons_excepted; singletons_excepted += "x1", "x2", "x5", "l1", "l3";
213 // CHECK(singletons_excepted == singletons);
214 //
215 // SymbolicFactorGraph singletonGraph_excepted;
216 // singletonGraph_excepted.push_factor("x2", "l1");
217 // singletonGraph_excepted.push_factor("x4", "l3");
218 // singletonGraph_excepted.push_factor("x1", "x2");
219 // singletonGraph_excepted.push_factor("x4", "x5");
220 // singletonGraph_excepted.push_factor("x2", "x3");
221 // CHECK(singletonGraph_excepted.equals(singletonGraph));
222 //}
223 
224 /* ************************************************************************* */
225 int main() {
226  TestResult tr;
227  return TestRegistry::runAllTests(tr);
228 }
229 /* ************************************************************************* */
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Definition: graph-inl.h:167
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Definition: Test.h:108
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#define EXPECT_LONGS_EQUAL(expected, actual)
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