testGaussianMixture.cpp File Reference

Unit tests for GaussianMixture class. More...

#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/GaussianMixture.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianConditional.h>
#include <vector>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testGaussianMixture.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 (GaussianMixture, Invariants)
	Check that invariants hold. More...
	TEST (GaussianMixture, LogProbability)
	Check LogProbability. More...
	TEST (GaussianMixture, Error)
	Check error. More...
	TEST (GaussianMixture, Likelihood)
	TEST (GaussianMixture, ContinuousParents)
	TEST (GaussianMixture, Likelihood2)

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 GaussianMixture	equal_constants::mixture ({Z(0)}, {X(0)}, {mode}, conditionals)
const GaussianMixture	mode_dependent_constants::mixture ({Z(0)}, {X(0)}, {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 GaussianMixture class.

Author

Varun Agrawal

Fan Jiang

Frank Dellaert

Date

December 2021

Definition in file testGaussianMixture.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 223 of file testGaussianMixture.cpp.

mode()

static const DiscreteKey mode ( modeKey  , 2    )

static

TEST() [1/6]

TEST	(	GaussianMixture	,
		Invariants
	)

Check that invariants hold.

Definition at line 61 of file testGaussianMixture.cpp.

TEST() [2/6]

TEST	(	GaussianMixture	,
		LogProbability
	)

Check LogProbability.

Definition at line 76 of file testGaussianMixture.cpp.

TEST() [3/6]

TEST	(	GaussianMixture	,
		Error
	)

Check error.

Definition at line 98 of file testGaussianMixture.cpp.

TEST() [4/6]

TEST	(	GaussianMixture	,
		Likelihood
	)

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

Definition at line 121 of file testGaussianMixture.cpp.

TEST() [5/6]

TEST	(	GaussianMixture	,
		ContinuousParents
	)

Definition at line 162 of file testGaussianMixture.cpp.

TEST() [6/6]

TEST	(	GaussianMixture	,
		Likelihood2
	)

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

Definition at line 173 of file testGaussianMixture.cpp.

Variable Documentation

assignment0

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

static

Definition at line 43 of file testGaussianMixture.cpp.

assignment1

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

static

Definition at line 43 of file testGaussianMixture.cpp.

hv0

const HybridValues hv0 {vv, assignment0}

static

Definition at line 44 of file testGaussianMixture.cpp.

hv1

const HybridValues hv1 {vv, assignment1}

static

Definition at line 45 of file testGaussianMixture.cpp.

modeKey

const Key modeKey = M(0)

static

Definition at line 40 of file testGaussianMixture.cpp.

vv

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

static

Definition at line 42 of file testGaussianMixture.cpp.