add Caesar ring 1D test

Author: dehann

src/CanonicalGraphExamples.jl

@@ -1,5 +1,5 @@
 
-export loadCanonicalFG_Kaess, loadCanonicalFG_TestSymbolic
+export loadCanonicalFG_Kaess, loadCanonicalFG_TestSymbolic, loadCanonicalFG_CaesarRing1D
 
 
 """
@@ -37,10 +37,10 @@ end
 """
     $SIGNATURES
 
-Canonical example from literature, Kaess, et al.: ISAM2, IJRR, 2011.
+Canonical example introduced by Borglab.
 
 Notes
-- Paper variable ordering: p = [:l1;:l2;:x1;:x2;:x3]
+- Known variable ordering: p = [:x1; :l3; :l1; :x5; :x2; :l2; :x4; :x3]
 """
 function loadCanonicalFG_TestSymbolic()
   fg = initfg()
@@ -67,3 +67,40 @@ function loadCanonicalFG_TestSymbolic()
 
   return fg
 end
+
+
+
+"""
+    $SIGNATURES
+
+Canonical example introduced originally as Caesar Hex Example.
+
+Notes
+- Paper variable ordering: p = [:x0;:x2;:x4;:x6;:x1;:l1;:x5;:x3;]
+"""
+function loadCanonicalFG_CaesarRing1D()
+
+  fg = initfg()
+
+  addVariable!(fg, :x0, ContinuousScalar)
+  addVariable!(fg, :x1, ContinuousScalar)
+  addVariable!(fg, :x2, ContinuousScalar)
+  addVariable!(fg, :x3, ContinuousScalar)
+  addVariable!(fg, :x4, ContinuousScalar)
+  addVariable!(fg, :x5, ContinuousScalar)
+  addVariable!(fg, :x6, ContinuousScalar)
+
+  addFactor!(fg, [:x0], Prior(Normal()))
+  addFactor!(fg, [:x0;:x1], LinearConditional(Normal()))
+  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()))
+  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()))
+  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()))
+  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()))
+  addFactor!(fg, [:x5;:x6], LinearConditional(Normal()))
+
+  addVariable!(fg, :l1, ContinuousScalar)
+  addFactor!(fg, [:x0;:l1], LinearConditional(Normal()))
+  addFactor!(fg, [:x6;:l1], LinearConditional(Normal()))
+
+  return fg
+end

test/testBasicGraphs.jl

@@ -106,7 +106,7 @@ tree, smt, hist = solveTree!(fg)
 # check mean and covariance -- should be zero
 @test abs((getKDE(fg, :x0) |> getKDEMean)[1] + 1000) < 0.6
 # should be sqrt(1/2) = 0.707 -- computation results nearer 0.7.
-@test 0.3 < Statistics.cov( getPoints(getKDE(fg, :x0))[1,:] ) < 1
+@test 0.2 < Statistics.cov( getPoints(getKDE(fg, :x0))[1,:] ) < 1
 
 end
 

test/testJunctionTreeConstruction.jl

@@ -16,6 +16,55 @@ using Test
 
 end
 
+@testset "Test Caesar Ring 1D symbolic tree construction" begin
+
+fg = loadCanonicalFG_CaesarRing1D()
+# drawGraph(fg, show=true)
+
+eo = [:x0;:x2;:x4;:x6;:x1;:l1;:x5;:x3;]
+
+tree = buildTreeFromOrdering!(fg,eo)
+drawTree(tree, show=true)
+
+@test length(tree.cliques) == 6
+
+C0 = getCliq(tree, :x3)
+@test intersect( C0 |> getFrontals, [:x3; :x5; :l1]) |> length == 3
+@test C0 |> getCliqSeparatorVarIds |> length == 0
+
+cC0 = getChildren(tree, C0)
+@test cC0 |> length == 3
+
+C1 = getCliq(tree, :x1)
+@test C1 in cC0
+@test C1 |> getFrontals == [:x1;]
+@test intersect(C1 |> getCliqSeparatorVarIds, [:x3;:l1]) |> length == 2
+
+cC1 = getChildren(tree, C1)
+@test cC1 |> length == 2
+
+C4 = getCliq(tree, :x2)
+@test C4 in cC1
+@test C4 |> getFrontals == [:x2;]
+@test intersect(C4 |> getCliqSeparatorVarIds, [:x3;:x1]) |> length == 2
+
+C5 = getCliq(tree, :x0)
+@test C5 in cC1
+@test C5 |> getFrontals == [:x0;]
+@test intersect(C5 |> getCliqSeparatorVarIds, [:l1;:x1]) |> length == 2
+
+C2 = getCliq(tree, :x6)
+@test C2 in cC0
+@test C2 |> getFrontals == [:x6;]
+@test intersect(C2 |> getCliqSeparatorVarIds, [:l1;:x5]) |> length == 2
+
+C3 = getCliq(tree, :x4)
+@test C3 in cC0
+@test C3 |> getFrontals == [:x4;]
+@test intersect(C3 |> getCliqSeparatorVarIds, [:x3;:x5]) |> length == 2
+
+end
+
 
 @testset "Test tree formation and consistent APIs" begin
 
@@ -28,7 +77,7 @@ end
   tree = buildTreeFromOrdering!(fg,eo)
   # drawTree(tree, show=true)
 
-  @warn "TODO, complete test on tree formation"
+  @warn "TODO, complete further testing on tree formation"
 
 
   ## test variable order APIs consistent, see issue 499