testHybridGaussianConditional.cpp File Reference

Unit tests for HybridGaussianConditional class. More...

#include <gtsam/discrete/DecisionTree.h>
#include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/HybridGaussianConditional.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianConditional.h>
#include <memory>
#include <vector>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testHybridGaussianConditional.cpp:

Go to the source code of this file.

Namespaces
	equal_constants
	mode_dependent_constants

Functions
int	main ()
static const DiscreteKey	mode (modeKey, 2)
	TEST (HybridGaussianConditional, ContinuousParents)
	TEST (HybridGaussianConditional, Error)
	Check error. More...
	TEST (HybridGaussianConditional, Error2)
	Check error with mode dependent constants. More...
	TEST (HybridGaussianConditional, Invariants)
	Check that invariants hold. More...
	TEST (HybridGaussianConditional, Likelihood)
	TEST (HybridGaussianConditional, Likelihood2)
	TEST (HybridGaussianConditional, LogProbability)
	Check LogProbability. More...
	TEST (HybridGaussianConditional, Prune)

Variables
static const DiscreteValues	assignment0 {{M(0), 0}}
static const DiscreteValues	assignment1 {{M(0), 1}}
const double	equal_constants::commonSigma = 2.0
const std::vector< GaussianConditional::shared_ptr >	equal_constants::conditionals
const std::vector< GaussianConditional::shared_ptr >	mode_dependent_constants::conditionals
static const HybridValues	hv0 {vv, assignment0}
static const HybridValues	hv1 {vv, assignment1}
const HybridGaussianConditional	equal_constants::hybrid_conditional (mode, conditionals)
const HybridGaussianConditional	mode_dependent_constants::hybrid_conditional (mode, conditionals)
static const Key	modeKey = M(0)
static const VectorValues	vv {{Z(0), Vector1(4.9)}, {X(0), Vector1(5.0)}}

Detailed Description

Unit tests for HybridGaussianConditional class.

Author

Varun Agrawal

Fan Jiang

Frank Dellaert

Date

December 2021

Definition in file testHybridGaussianConditional.cpp.

Function Documentation

main()

int main

(

)

Definition at line 301 of file testHybridGaussianConditional.cpp.

mode()

static const DiscreteKey mode ( modeKey  , 2    )

static

TEST() [1/8]

TEST	(	HybridGaussianConditional	,
		ContinuousParents
	)

Definition at line 157 of file testHybridGaussianConditional.cpp.

TEST() [2/8]

TEST	(	HybridGaussianConditional	,
		Error
	)

Check error.

Definition at line 89 of file testHybridGaussianConditional.cpp.

TEST() [3/8]

TEST	(	HybridGaussianConditional	,
		Error2
	)

Check error with mode dependent constants.

Definition at line 170 of file testHybridGaussianConditional.cpp.

TEST() [4/8]

TEST	(	HybridGaussianConditional	,
		Invariants
	)

Check that invariants hold.

Definition at line 63 of file testHybridGaussianConditional.cpp.

TEST() [5/8]

TEST	(	HybridGaussianConditional	,
		Likelihood
	)

Check that the likelihood is proportional to the conditional density given the measurements.

Definition at line 112 of file testHybridGaussianConditional.cpp.

TEST() [6/8]

TEST	(	HybridGaussianConditional	,
		Likelihood2
	)

Check that the likelihood is proportional to the conditional density given the measurements.

Definition at line 203 of file testHybridGaussianConditional.cpp.

TEST() [7/8]

TEST	(	HybridGaussianConditional	,
		LogProbability
	)

Check LogProbability.

Definition at line 78 of file testHybridGaussianConditional.cpp.

TEST() [8/8]

TEST	(	HybridGaussianConditional	,
		Prune
	)

Definition at line 244 of file testHybridGaussianConditional.cpp.

Variable Documentation

assignment0

const DiscreteValues assignment0 {{M(0), 0}}

static

Definition at line 45 of file testHybridGaussianConditional.cpp.

assignment1

const DiscreteValues assignment1 {{M(0), 1}}

static

Definition at line 45 of file testHybridGaussianConditional.cpp.

hv0

const HybridValues hv0 {vv, assignment0}

static

Definition at line 46 of file testHybridGaussianConditional.cpp.

hv1

const HybridValues hv1 {vv, assignment1}

static

Definition at line 47 of file testHybridGaussianConditional.cpp.

modeKey

const Key modeKey = M(0)

static

Definition at line 42 of file testHybridGaussianConditional.cpp.

vv

const VectorValues vv {{Z(0), Vector1(4.9)}, {X(0), Vector1(5.0)}}

static

Definition at line 44 of file testHybridGaussianConditional.cpp.