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 <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 HybridGaussianFactorGraph &fg, size_t num_samples=100)
bool	ratioTest (const HybridBayesNet &bn, const VectorValues &measurements, const HybridBayesNet &posterior, size_t num_samples=100)
	TEST (HybridGaussianFactorGraph, Creation)
	TEST (HybridGaussianFactorGraph, EliminateSequential)
	TEST (HybridGaussianFactorGraph, EliminateMultifrontal)
	TEST (HybridGaussianFactorGraph, eliminateFullSequentialEqualChance)
	TEST (HybridGaussianFactorGraph, eliminateFullSequentialSimple)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalSimple)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalCLG)
	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique)
	TEST (HybridGaussianFactorGraph, Switching)
	TEST (HybridGaussianFactorGraph, SwitchingISAM)
	TEST (HybridGaussianFactorGraph, SwitchingTwoVar)
	TEST (HybridGaussianFactorGraph, optimize)
	TEST (HybridGaussianFactorGraph, Conditionals)
	TEST (HybridGaussianFactorGraph, ErrorAndProbPrime)
	TEST (HybridGaussianFactorGraph, ErrorAndProbPrimeTree)
	TEST (HybridGaussianFactorGraph, assembleGraphTree)
	TEST (HybridGaussianFactorGraph, EliminateTiny1)
	TEST (HybridGaussianFactorGraph, EliminateTiny1Swapped)
	TEST (HybridGaussianFactorGraph, EliminateTiny2)
	TEST (HybridGaussianFactorGraph, EliminateTiny22)
	TEST (HybridGaussianFactorGraph, EliminateSwitchingNetwork)

Function Documentation

dotPrint()

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

Definition at line 288 of file testHybridGaussianFactorGraph.cpp.

kRng()

std::mt19937_64 kRng

(

42

)

main()

int main

(

void

)

Definition at line 910 of file testHybridGaussianFactorGraph.cpp.

ratioTest() [1/2]

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

Definition at line 641 of file testHybridGaussianFactorGraph.cpp.

ratioTest() [2/2]

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

Definition at line 662 of file testHybridGaussianFactorGraph.cpp.

TEST() [1/21]

TEST	(	HybridGaussianFactorGraph	,
		Creation
	)

Definition at line 64 of file testHybridGaussianFactorGraph.cpp.

TEST() [2/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateSequential
	)

Definition at line 86 of file testHybridGaussianFactorGraph.cpp.

TEST() [3/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateMultifrontal
	)

Definition at line 98 of file testHybridGaussianFactorGraph.cpp.

TEST() [4/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullSequentialEqualChance
	)

Definition at line 117 of file testHybridGaussianFactorGraph.cpp.

TEST() [5/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullSequentialSimple
	)

Definition at line 144 of file testHybridGaussianFactorGraph.cpp.

TEST() [6/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalSimple
	)

Definition at line 171 of file testHybridGaussianFactorGraph.cpp.

TEST() [7/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalCLG
	)

Definition at line 198 of file testHybridGaussianFactorGraph.cpp.

TEST() [8/21]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalTwoClique
	)

Definition at line 232 of file testHybridGaussianFactorGraph.cpp.

TEST() [9/21]

TEST	(	HybridGaussianFactorGraph	,
		Switching
	)

Definition at line 304 of file testHybridGaussianFactorGraph.cpp.

TEST() [10/21]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingISAM
	)

Definition at line 361 of file testHybridGaussianFactorGraph.cpp.

TEST() [11/21]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingTwoVar
	)

Definition at line 422 of file testHybridGaussianFactorGraph.cpp.

TEST() [12/21]

TEST	(	HybridGaussianFactorGraph	,
		optimize
	)

Definition at line 493 of file testHybridGaussianFactorGraph.cpp.

TEST() [13/21]

TEST	(	HybridGaussianFactorGraph	,
		Conditionals
	)

Definition at line 516 of file testHybridGaussianFactorGraph.cpp.

TEST() [14/21]

TEST	(	HybridGaussianFactorGraph	,
		ErrorAndProbPrime
	)

Definition at line 555 of file testHybridGaussianFactorGraph.cpp.

TEST() [15/21]

TEST	(	HybridGaussianFactorGraph	,
		ErrorAndProbPrimeTree
	)

Definition at line 574 of file testHybridGaussianFactorGraph.cpp.

TEST() [16/21]

TEST	(	HybridGaussianFactorGraph	,
		assembleGraphTree
	)

Definition at line 603 of file testHybridGaussianFactorGraph.cpp.

TEST() [17/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny1
	)

Definition at line 684 of file testHybridGaussianFactorGraph.cpp.

TEST() [18/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny1Swapped
	)

Definition at line 719 of file testHybridGaussianFactorGraph.cpp.

TEST() [19/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny2
	)

Definition at line 775 of file testHybridGaussianFactorGraph.cpp.

TEST() [20/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateTiny22
	)

Definition at line 808 of file testHybridGaussianFactorGraph.cpp.

TEST() [21/21]

TEST	(	HybridGaussianFactorGraph	,
		EliminateSwitchingNetwork
	)

Definition at line 829 of file testHybridGaussianFactorGraph.cpp.