add few tree tests (API)

Author: dehann

src/CanonicalGraphExamples.jl

@@ -0,0 +1,69 @@
+
+export loadCanonicalFG_Kaess, loadCanonicalFG_TestSymbolic
+
+
+"""
+    $SIGNATURES
+
+Canonical example from literature, Kaess, et al.: ISAM2, IJRR, 2011.
+
+Notes
+- Paper variable ordering: p = [:l1;:l2;:x1;:x2;:x3]
+"""
+function loadCanonicalFG_Kaess()
+  fg = initfg()
+
+  addVariable!(fg,:x1, ContinuousScalar)
+  addFactor!(fg, [:x1;], Prior(Normal()))
+
+
+  addVariable!(fg,:x2, ContinuousScalar)
+  addFactor!(fg,[:x1, :x2], LinearConditional(Normal()))
+
+  addVariable!(fg, :x3, ContinuousScalar)
+  addFactor!(fg,[:x2,:x3],LinearConditional(Normal()))
+
+  addVariable!(fg, :l1, ContinuousScalar)
+  addFactor!(fg, [:x1,:l1], LinearConditional(Normal()) )
+  addFactor!(fg, [:x2,:l1], LinearConditional(Normal()) )
+
+  addVariable!(fg, :l2, ContinuousScalar)
+  addFactor!(fg, [:x3,:l2], LinearConditional(Normal()))
+
+  return fg
+end
+
+
+"""
+    $SIGNATURES
+
+Canonical example from literature, Kaess, et al.: ISAM2, IJRR, 2011.
+
+Notes
+- Paper variable ordering: p = [:l1;:l2;:x1;:x2;:x3]
+"""
+function loadCanonicalFG_TestSymbolic()
+  fg = initfg()
+
+  addVariable!(fg, :x1, ContinuousScalar)
+  addVariable!(fg, :x2, ContinuousScalar)
+  addVariable!(fg, :x3, ContinuousScalar)
+  addVariable!(fg, :x4, ContinuousScalar)
+  addVariable!(fg, :x5, ContinuousScalar)
+  addVariable!(fg, :l1, ContinuousScalar)
+  addVariable!(fg, :l2, ContinuousScalar)
+  addVariable!(fg, :l3, ContinuousScalar)
+
+  addFactor!(fg, [:x1;:l1], LinearConditional(Normal()))
+  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()))
+  addFactor!(fg, [:x2;:l1], LinearConditional(Normal()))
+  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()))
+  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()))
+  addFactor!(fg, [:x4;:l2], LinearConditional(Normal()))
+  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()))
+  addFactor!(fg, [:l2;:x5], LinearConditional(Normal()))
+  addFactor!(fg, [:x4;:l3], LinearConditional(Normal()))
+  addFactor!(fg, [:x5;:l3], LinearConditional(Normal()))
+
+  return fg
+end

src/IncrementalInference.jl

@@ -548,6 +548,7 @@ include("Factors/Sphere1D.jl")
 include("AdditionalUtils.jl")
 include("SolverAPI.jl")
 
+include("CanonicalGraphExamples.jl")
 include("Deprecated.jl")
 
 exportimg(pl) = error("Please do `using Gadfly` before IncrementalInference is used to allow image export.")

test/runtests.jl

@@ -40,9 +40,10 @@ end
 
 include("testBasicForwardConvolve.jl")
 
-
 include("testFactorMetadata.jl")
 
+include("testJunctionTreeConstruction.jl")
+
 include("testBasicCSM.jl")
 
 include("testCliqueFactors.jl")

test/testJunctionTree2.jl

@@ -0,0 +1,52 @@
+# another tree test
+
+using IncrementalInference
+using Test
+
+
+@testset "Variable ordering Bayes tree member check." begin
+
+  fg = loadCanonicalFG_Kaess()
+  # Choose specific variable ordering and perform check.
+  vo = [:l1, :l2, :x1, :x2, :x3]
+  tree = buildTreeFromOrdering!(fg, vo)
+  @test vo == tree.variableOrder
+  @test vo == getVariableOrder(tree)
+  @test vo == getEliminationOrder(tree)
+
+end
+
+
+@testset "Test tree formation and consistent APIs" begin
+
+  fg = loadCanonicalFG_TestSymbolic()
+
+  #writeGraphPdf(fg, show=true)
+
+  eo = [:x1; :l3; :l1; :x5; :x2; :l2; :x4; :x3]
+
+  tree = buildTreeFromOrdering!(fg,eo)
+  # drawTree(tree, show=true)
+
+  @warn "TODO, complete test on tree formation"
+
+
+  ## test variable order APIs consistent, see issue 499
+
+  vo = getEliminationOrder(fg)
+  tree1 = resetBuildTreeFromOrder!(fg, vo)
+  # drawTree(tree1, show=true)
+
+  tree2 = wipeBuildNewTree!(fg)
+  # drawTree(tree2, show=true)
+
+  @test getVariableOrder(tree1) == getVariableOrder(tree1)
+
+end
+
+
+
+
+
+
+#