//===========================================================================
// Complex higher level tests of markov database
//===========================================================================
TEST(MarkovTree,ComplexOneLevelTreeTest)
{
MarkovData data(1);
// ab, bb, bc, cd, bc, ac, ab, ba, bb, bb
data.insert( MC2(a,b) ); data.insert( MC2(b,b) );
data.insert( MC2(b,c) ); data.insert( MC2(c,d) );
data.insert( MC2(b,c) ); data.insert( MC2(a,c) );
data.insert( MC2(a,b) ); data.insert( MC2(b,a) );
data.insert( MC2(b,b) ); data.insert( MC2(b,b) );
// make sure sum is 10 and 3 children
EXPECT_EQ( 3, data.childrenAtRoot() );
EXPECT_EQ( 10, data.weightSumAtRoot() );
// Verify chains
// a branch
EXPECT_TRUE( testSubchain( data, MC1(a), 3, 2 ) );
EXPECT_TRUE( testSubchain( data, MC2(a,b), 2, 0 ) );
EXPECT_TRUE( testSubchain( data, MC2(a,c), 1, 0 ) );
// b branch
EXPECT_TRUE( testSubchain( data, MC1(b), 6, 3 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,a), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,b), 3, 0 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,c), 2, 0 ) );
// c branch
EXPECT_TRUE( testSubchain( data, MC1(c), 1, 1 ) );
EXPECT_TRUE( testSubchain( data, MC2(c,d), 1, 0 ) );
std::cout << data.debugDumpToString() << std::endl;
}
//===========================================================================
// Basic markov data tests
//===========================================================================
TEST(MarkovTree,FindNonexistantChainReturnsNull)
{
MarkovData data(2);
data.insert( MC3(aa,bb,cc) );
EXPECT_TRUE( NULL == data.getNodeFor( MC1(xx) ) );
EXPECT_TRUE( NULL == data.getNodeFor( MC2(aa,cc) ) );
}
TEST(MarkovTree,InsertChainCanRetrieveAllLevels)
{
MarkovData data(2);
data.insert( MC3(aa,bb,cc) );
EXPECT_TRUE( testSubchain( data, MC1(aa), 1, 1 ) );
EXPECT_TRUE( testSubchain( data, MC2(aa,bb), 1, 1 ) );
EXPECT_TRUE( testSubchain( data, MC3(aa,bb,cc), 1, 0 ) );
}
TEST(MarkovTree,InsertChainCanRetrieveIt)
{
MarkovData data(2);
data.insert( MC3(a,b,c) );
ElementNode * n = NULL;
// Lookup {"a"} --> {"b", "c"}
EXPECT_TRUE( n != data.getNodeFor( MC1(a) ) );
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "manual_control_node");
ros::NodeHandle nh;
manual_control MC1(nh);
while(ros::ok())
{
ros::spinOnce();
}
return 0;
}
TEST(MarkovTree,BasicOneLevelTreeSameWeights)
{
MarkovData data(1);
data.insert( MC2(a,b) );
data.insert( MC2(b,c) );
data.insert( MC2(c,d) );
// make sure three nodes at root
EXPECT_EQ( 3, data.childrenAtRoot() );
// Verify subchains
// {a,b}
EXPECT_TRUE( testSubchain(data, MC1(a), 1, 1) );
EXPECT_TRUE( testSubchain(data, MC2(a,b), 1, 0) );
// {b,c}
EXPECT_TRUE( testSubchain(data, MC1(b), 1, 1) );
EXPECT_TRUE( testSubchain(data, MC2(b,c), 1, 0) );
// {c,d}
EXPECT_TRUE( testSubchain(data, MC1(c), 1, 1) );
EXPECT_TRUE( testSubchain(data, MC2(c,d), 1, 0) );
}
TEST(MarkovChain,ComplexTwoLevelTTreeest)
{
MarkovData data(2);
/**
* (ROOT:24)
* - A:6
* - B:2
* - A:1
* - D:1
* - C:4
* - D:2
* - A:1
* - C:1
* - B:11
* - B:3
* - A:3
* - A:5
* - A:1
* - B:2
* - C:1
* - D:1
* - C:3
* - A:1
* - D:2
* - C:3
* - B:3
* - D:3
* - D:4
* - A:1
* - C:1
* - B:3
* - A:2
* - D:1
*/
data.insert( MC3(a,b,a) ); data.insert( MC3(a,c,c) ); // 1
data.insert( MC3(d,a,c) ); data.insert( MC3(c,b,d) ); // 2
data.insert( MC3(a,c,d) ); data.insert( MC3(a,c,d) ); // 3
data.insert( MC3(b,a,a) ); data.insert( MC3(b,b,a) ); // 4
data.insert( MC3(b,c,a) ); data.insert( MC3(c,b,d) ); // 5
data.insert( MC3(c,b,d) ); data.insert( MC3(a,b,d) ); // 6
data.insert( MC3(a,c,a) ); data.insert( MC3(b,c,d) ); // 7
data.insert( MC3(d,b,a) ); data.insert( MC3(b,c,d) ); // 8
data.insert( MC3(d,b,a) ); data.insert( MC3(d,b,d) ); // 9
data.insert( MC3(b,b,a) ); data.insert( MC3(b,a,c) ); // 10
data.insert( MC3(b,a,b) ); data.insert( MC3(b,a,b) ); // 11
data.insert( MC3(b,a,d) ); data.insert( MC3(b,b,a) ); // 12
// make sure sum is 10 and 3 children
EXPECT_EQ( 4, data.childrenAtRoot() );
EXPECT_EQ( 24, data.weightSumAtRoot() );
// Verify chains
// a branch
EXPECT_TRUE( testSubchain( data, MC1(a), 6, 2 ) );
EXPECT_TRUE( testSubchain( data, MC2(a,b), 2, 2 ) );
EXPECT_TRUE( testSubchain( data, MC2(a,c), 4, 3 ) );
EXPECT_TRUE( testSubchain( data, MC3(a,b,a), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(a,b,d), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(a,c,d), 2, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(a,c,a), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(a,c,c), 1, 0 ) );
// b branch
EXPECT_TRUE( testSubchain( data, MC1(b), 11, 3 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,a), 5, 4 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,b), 3, 1 ) );
EXPECT_TRUE( testSubchain( data, MC2(b,c), 3, 2 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,b,a), 3, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,a,a), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,a,b), 2, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,a,c), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,a,d), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,c,a), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(b,c,d), 2, 0 ) );
// c branch
EXPECT_TRUE( testSubchain( data, MC1(c), 3, 1 ) );
EXPECT_TRUE( testSubchain( data, MC2(c,b), 3, 1 ) );
EXPECT_TRUE( testSubchain( data, MC3(c,b,d), 3, 0 ) );
// d branch
EXPECT_TRUE( testSubchain( data, MC1(d), 4, 2 ) );
EXPECT_TRUE( testSubchain( data, MC2(d,a), 1, 1 ) );
EXPECT_TRUE( testSubchain( data, MC2(d,b), 3, 2 ) );
EXPECT_TRUE( testSubchain( data, MC3(d,a,c), 1, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(d,b,a), 2, 0 ) );
EXPECT_TRUE( testSubchain( data, MC3(d,b,d), 1, 0 ) );
}
TEST(MarkovTree,OneLengthChainsAreEqual)
{
EXPECT_TRUE( isEqual( MC1(bear), MC1(bear) ) );
}
TEST(MarkovTree,OneElementChainToString)
{
EXPECT_EQ( "<1;apple>", toString( MC1(apple) ) );
}
