Unit tests for HybridBayesTree. More...

#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/hybrid/HybridBayesTree.h>
#include <gtsam/hybrid/HybridGaussianISAM.h>
#include <gtsam/inference/DotWriter.h>
#include <numeric>
#include "Switching.h"
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testHybridBayesTree.cpp:

Go to the source code of this file.

Namespaces
	optimize_fixture

	two

Functions
std::vector< GaussianFactor::shared_ptr >	two::components (Key key)

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

HybridGaussianFactorGraph	optimize_fixture::GetGaussianFactorGraph (size_t N)

static const DiscreteKey	m0 (M(0), 2)

static const DiscreteKey	m1 (M(1), 2)

static const DiscreteKey	m2 (M(2), 2)

static const DiscreteKey	m3 (M(3), 2)

int	main ()

	TEST (HybridBayesTree, Choose)

	TEST (HybridBayesTree, Optimize)

	TEST (HybridBayesTree, OptimizeAssignment)

	TEST (HybridBayesTree, OptimizeMultifrontal)

	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalCLG)

	TEST (HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique)

	TEST (HybridGaussianFactorGraph, EliminateMultifrontal)

	TEST (HybridGaussianFactorGraph, HybridGaussianFactorGraphEliminateFullMultifrontalSimple)

	TEST (HybridGaussianFactorGraph, Switching)

	TEST (HybridGaussianFactorGraph, SwitchingISAM)

	TEST (HybridGaussianFactorGraph, SwitchingTwoVar)

Detailed Description

Unit tests for HybridBayesTree.

Author: Varun Agrawal

Date: August 2022

Definition in file testHybridBayesTree.cpp.

Function Documentation

◆ dotPrint()

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

Definition at line 146 of file testHybridBayesTree.cpp.

◆ m0()

static const DiscreteKey m0	(	M(0)	,
		2
	)

static

◆ m1()

static const DiscreteKey m1	(	M(1)	,
		2
	)

◆ m2()

static const DiscreteKey m2	(	M(2)	,
		2
	)

◆ m3()

static const DiscreteKey m3	(	M(3)	,
		2
	)

◆ main()

int main ( )

Definition at line 499 of file testHybridBayesTree.cpp.

◆ TEST() [1/11]

TEST	(	HybridBayesTree	,
		Choose
	)

Definition at line 465 of file testHybridBayesTree.cpp.

◆ TEST() [2/11]

TEST	(	HybridBayesTree	,
		Optimize
	)

Definition at line 423 of file testHybridBayesTree.cpp.

◆ TEST() [3/11]

TEST	(	HybridBayesTree	,
		OptimizeAssignment
	)

Definition at line 373 of file testHybridBayesTree.cpp.

◆ TEST() [4/11]

TEST	(	HybridBayesTree	,
		OptimizeMultifrontal
	)

Definition at line 336 of file testHybridBayesTree.cpp.

◆ TEST() [5/11]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalCLG
	)

Definition at line 86 of file testHybridBayesTree.cpp.

◆ TEST() [6/11]

TEST	(	HybridGaussianFactorGraph	,
		eliminateFullMultifrontalTwoClique
	)

Definition at line 110 of file testHybridBayesTree.cpp.

◆ TEST() [7/11]

TEST	(	HybridGaussianFactorGraph	,
		EliminateMultifrontal
	)

Definition at line 42 of file testHybridBayesTree.cpp.

◆ TEST() [8/11]

TEST	(	HybridGaussianFactorGraph	,
		HybridGaussianFactorGraphEliminateFullMultifrontalSimple
	)

Definition at line 67 of file testHybridBayesTree.cpp.

◆ TEST() [9/11]

TEST	(	HybridGaussianFactorGraph	,
		Switching
	)

Definition at line 162 of file testHybridBayesTree.cpp.

◆ TEST() [10/11]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingISAM
	)

Definition at line 209 of file testHybridBayesTree.cpp.

◆ TEST() [11/11]

TEST	(	HybridGaussianFactorGraph	,
		SwitchingTwoVar
	)

Definition at line 264 of file testHybridBayesTree.cpp.

Namespaces

Functions