/* ************************************************************************* */
TEST(VariableIndex, deep_copy) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
// 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, fg1);
// When modifying the clone, the original should have stayed the same
EXPECT(assert_equal(expectedOriginal, original));
EXPECT(assert_equal(expectedRemoved, clone));
}
/* ************************************************************************* */
TEST(VariableIndex, remove) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
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, 10);
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, fg1);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, augment2) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
SymbolicFactorGraph fgCombined;
fgCombined.push_back(fg1);
fgCombined.push_back(SymbolicFactor::shared_ptr()); // Add an extra empty factor
fgCombined.push_back(fg2);
VariableIndex expected(fgCombined);
FastVector<size_t> newIndices = list_of(5)(6)(7)(8);
VariableIndex actual(fg1);
actual.augment(fg2, newIndices);
LONGS_EQUAL(16, (long) actual.nEntries());
LONGS_EQUAL(9, (long) actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST( SymbolicFactorGraph, symbolicFactorGraph )
{
Ordering o; o += X(1),L(1),X(2);
// construct expected symbolic graph
SymbolicFactorGraph expected;
expected.push_factor(o[X(1)]);
expected.push_factor(o[X(1)],o[X(2)]);
expected.push_factor(o[X(1)],o[L(1)]);
expected.push_factor(o[X(2)],o[L(1)]);
// construct it from the factor graph
GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o);
SymbolicFactorGraph actual(factorGraph);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, augment) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
VariableIndex expected(fgCombined);
VariableIndex actual(fg1);
actual.augment(fg2);
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(8, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
