testSymbolicJunctionTree.cpp

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * 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/TestableAssertions.h>
 
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/symbolic/SymbolicEliminationTree.h>
#include <gtsam/symbolic/SymbolicJunctionTree.h>
 
#include "symbolicExampleGraphs.h"
 
using namespace gtsam;
using namespace std;
 
/* ************************************************************************* *
 * 1 - 0 - 2 - 3
 * 2 3
 *   0 1 : 2
 ****************************************************************************/
TEST( JunctionTree, constructor )
{
  const Ordering order{0, 1, 2, 3};
 
  SymbolicJunctionTree actual(SymbolicEliminationTree(simpleChain, order));
 
  SymbolicJunctionTree::Node::Keys
    frontal1 {2, 3},
    frontal2 {0, 1},
    sep1, sep2 {2};
  EXPECT(assert_container_equality(frontal1, actual.roots().front()->orderedFrontalKeys));
  //EXPECT(assert_equal(sep1,     actual.roots().front()->separator));
  LONGS_EQUAL(1,                (long)actual.roots().front()->factors.size());
  EXPECT(assert_container_equality(frontal2, actual.roots().front()->children.front()->orderedFrontalKeys));
  //EXPECT(assert_equal(sep2,     actual.roots().front()->children.front()->separator));
  LONGS_EQUAL(2,                (long)actual.roots().front()->children.front()->factors.size());
  EXPECT(assert_equal(*simpleChain[2],   *actual.roots().front()->factors[0]));
  EXPECT(assert_equal(*simpleChain[0],   *actual.roots().front()->children.front()->factors[0]));
  EXPECT(assert_equal(*simpleChain[1],   *actual.roots().front()->children.front()->factors[1]));
}
 
/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */