testVariableIndex.cpp

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/* ----------------------------------------------------------------------------
 
 * 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 <gtsam/inference/VariableIndex.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/base/TestableAssertions.h>
 
#include <CppUnitLite/TestHarness.h>
 
using namespace std;
using namespace gtsam;
 
/* ************************************************************************* */
// 2 small symbolic graphs shared by all tests
 
SymbolicFactorGraph testGraph1() {
  SymbolicFactorGraph fg1;
  fg1.push_factor(0, 1);
  fg1.push_factor(0, 2);
  fg1.push_factor(5, 9);
  fg1.push_factor(2, 3);
  return fg1;
}
 
SymbolicFactorGraph testGraph2() {
  SymbolicFactorGraph fg2;
  fg2.push_factor(1, 3);
  fg2.push_factor(2, 4);
  fg2.push_factor(3, 5);
  fg2.push_factor(5, 6);
  return fg2;
}
 
/* ************************************************************************* */
TEST(VariableIndex, augment) {
  auto fg1 = testGraph1(), fg2 = testGraph2();
  SymbolicFactorGraph fgCombined;
  fgCombined.push_back(fg1);
  fgCombined.push_back(fg2);
 
  VariableIndex expected(fgCombined);
  VariableIndex actual(fg1);
  actual.augment(fg2);
 
  LONGS_EQUAL(8, actual.size());
  LONGS_EQUAL(16, actual.nEntries());
  LONGS_EQUAL(8, actual.nFactors());
  EXPECT(assert_equal(expected, actual));
}
 
/* ************************************************************************* */
TEST(VariableIndex, augment2) {
 
  auto fg1 = testGraph1(), fg2 = testGraph2();
 
  SymbolicFactorGraph fgCombined;
  fgCombined.push_back(fg1);
  fgCombined.push_back(SymbolicFactor::shared_ptr()); // Add an extra empty factor
  fgCombined.push_back(fg2);
 
  VariableIndex expected(fgCombined);
 
  FactorIndices newIndices {5, 6, 7, 8};
  VariableIndex actual(fg1);
  actual.augment(fg2, newIndices);
 
  LONGS_EQUAL(8, actual.size());
  LONGS_EQUAL(16, actual.nEntries());
  LONGS_EQUAL(9, actual.nFactors());
  EXPECT(assert_equal(expected, actual));
}
 
/* ************************************************************************* */
TEST(VariableIndex, remove) {
 
  auto fg1 = testGraph1(), fg2 = testGraph2();
 
  SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
 
  // Create a factor graph containing only the factors from fg2 and with null
  // factors in the place of those of fg1, so that the factor indices are correct.
  SymbolicFactorGraph fg2removed(fgCombined);
  fg2removed.remove(0); fg2removed.remove(1); fg2removed.remove(2); fg2removed.remove(3);
 
  // The expected VariableIndex has the same factor indices as fgCombined but
  // with entries from fg1 removed, and still has all 10 variables.
  VariableIndex expected(fg2removed);
  VariableIndex actual(fgCombined);
  vector<size_t> indices;
  indices.push_back(0); indices.push_back(1); indices.push_back(2); indices.push_back(3);
  actual.remove(indices.begin(), indices.end(), fg1);
  std::list<Key> unusedVariables{0, 9};
  actual.removeUnusedVariables(unusedVariables.begin(), unusedVariables.end());
 
  CHECK(assert_equal(expected, actual));
}
 
/* ************************************************************************* */
TEST(VariableIndex, deep_copy) {
 
  auto fg1 = testGraph1(), fg2 = testGraph2();
 
  // Create original graph and VariableIndex
  SymbolicFactorGraph fgOriginal; fgOriginal.push_back(fg1); fgOriginal.push_back(fg2);
  VariableIndex original(fgOriginal);
  VariableIndex expectedOriginal(fgOriginal);
 
  // Create a factor graph containing only the factors from fg2 and with null
  // factors in the place of those of fg1, so that the factor indices are correct.
  SymbolicFactorGraph fg2removed(fgOriginal);
  fg2removed.remove(0); fg2removed.remove(1); fg2removed.remove(2); fg2removed.remove(3);
  VariableIndex expectedRemoved(fg2removed);
 
  // Create a clone and modify the clone - the original should not change
  VariableIndex clone(original);
  vector<size_t> indices;
  indices.push_back(0); indices.push_back(1); indices.push_back(2); indices.push_back(3);
  clone.remove(indices.begin(), indices.end(), fg1);
  std::list<Key> unusedVariables{0, 9};
  clone.removeUnusedVariables(unusedVariables.begin(), unusedVariables.end());
 
  // When modifying the clone, the original should have stayed the same
  EXPECT(assert_equal(expectedOriginal, original));
  EXPECT(assert_equal(expectedRemoved, clone));
}
 
/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */