testHybridEstimation.cpp File Reference

Unit tests for end-to-end Hybrid Estimation. More...

#include <gtsam/discrete/DiscreteBayesNet.h>
#include <gtsam/discrete/TableDistribution.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
#include <gtsam/hybrid/HybridNonlinearISAM.h>
#include <gtsam/hybrid/HybridSmoother.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <string>
#include "Switching.h"

Include dependency graph for testHybridEstimation.cpp:

Go to the source code of this file.

Namespaces
	estimation_fixture

Functions
static HybridGaussianFactorGraph::shared_ptr	CreateHybridGaussianFactorGraph ()
static HybridNonlinearFactorGraph	CreateHybridNonlinearFactorGraph ()
AlgebraicDecisionTree< Key >	GetProbPrimeTree (const HybridGaussianFactorGraph &graph)
	Helper method to get the tree of unnormalized probabilities as per the elimination scheme. More...
Switching	estimation_fixture::InitializeEstimationProblem (const size_t K, const double between_sigma, const double measurement_sigma, const std::vector< double > &measurements, const std::string &transitionProbabilityTable, HybridNonlinearFactorGraph &graph, Values &initial)
int	main ()
	TEST (HybridEstimation, CorrectnessViaSampling)
	TEST (HybridEstimation, EliminateSequentialRegression)
	TEST (HybridEstimation, Full)
	TEST (HybridEstimation, ISAM)
	TEST (HybridEstimation, ModeSelection)
	TEST (HybridEstimation, ModeSelection2)
	TEST (HybridEstimation, Probability)
	TEST (HybridEstimation, ProbabilityMultifrontal)

Variables
std::vector< size_t >	estimation_fixture::discrete_seq
std::vector< double >	estimation_fixture::measurements

Detailed Description

Unit tests for end-to-end Hybrid Estimation.

Author

Varun Agrawal

Definition in file testHybridEstimation.cpp.

Function Documentation

CreateHybridGaussianFactorGraph()

static HybridGaussianFactorGraph::shared_ptr CreateHybridGaussianFactorGraph ( )

static

Definition at line 352 of file testHybridEstimation.cpp.

CreateHybridNonlinearFactorGraph()

static HybridNonlinearFactorGraph CreateHybridNonlinearFactorGraph ( )

static

Definition at line 326 of file testHybridEstimation.cpp.

GetProbPrimeTree()

AlgebraicDecisionTree<Key> GetProbPrimeTree

(

const HybridGaussianFactorGraph &

graph

)

Helper method to get the tree of unnormalized probabilities as per the elimination scheme.

Used as a helper to compute q(\mu | M, Z) which is used by both P(X | M, Z) and P(M | Z).

Parameters

graph

The HybridGaussianFactorGraph to eliminate.

Returns

AlgebraicDecisionTree<Key>

Definition at line 177 of file testHybridEstimation.cpp.

main()

int main

(

)

Definition at line 551 of file testHybridEstimation.cpp.

TEST() [1/8]

TEST	(	HybridEstimation	,
		CorrectnessViaSampling
	)

Definition at line 400 of file testHybridEstimation.cpp.

TEST() [2/8]

TEST	(	HybridEstimation	,
		EliminateSequentialRegression
	)

Definition at line 365 of file testHybridEstimation.cpp.

TEST() [3/8]

TEST	(	HybridEstimation	,
		Full
	)

Definition at line 78 of file testHybridEstimation.cpp.

TEST() [4/8]

TEST	(	HybridEstimation	,
		ISAM
	)

Definition at line 120 of file testHybridEstimation.cpp.

TEST() [5/8]

TEST	(	HybridEstimation	,
		ModeSelection
	)

Definition at line 432 of file testHybridEstimation.cpp.

TEST() [6/8]

TEST	(	HybridEstimation	,
		ModeSelection2
	)

Definition at line 491 of file testHybridEstimation.cpp.

TEST() [7/8]

TEST	(	HybridEstimation	,
		Probability
	)

Definition at line 222 of file testHybridEstimation.cpp.

TEST() [8/8]

TEST	(	HybridEstimation	,
		ProbabilityMultifrontal
	)

Test for correctness of different branches of the P'(Continuous | Discrete) in the multi-frontal setting. The values should match those of P'(Continuous) for each discrete mode.

Definition at line 261 of file testHybridEstimation.cpp.