Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Hybrid Serialization #1368

Merged
merged 9 commits into from
Jan 4, 2023
+440 −46
Merged

Hybrid Serialization #1368

Changes from 1 commit
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
99a3fba
DecisionTree serialization
varunagrawal Jan 3, 2023
2653c2f
serialization support for DecisionTreeFactor
varunagrawal Jan 3, 2023
0ab15cc
fix equality of HybridDiscreteFactor and HybridGaussianFactor
varunagrawal Jan 3, 2023
3f2bff8
hybrid serialization tests
varunagrawal Jan 3, 2023
74142e4
GaussianMixture serialization
varunagrawal Jan 3, 2023
2bb4fd6
fix minor bug in HybridConditional and test its serialization
varunagrawal Jan 3, 2023
6fcc087
serialize DiscreteConditional
varunagrawal Jan 3, 2023
230f65d
serialization tests for HybridBayesNet and HybridBayesTree
varunagrawal Jan 3, 2023
4cb910c
move discrete serialization tests to common file to remove export key…
varunagrawal Jan 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
hybrid serialization tests
  • Loading branch information
@varunagrawal
varunagrawal committed Jan 3, 2023
commit 3f2bff8e1de751bdc02a19c53b91d0c20f445576
100 changes: 100 additions & 0 deletions gtsam/hybrid/tests/testSerializationHybrid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,100 @@
/* ----------------------------------------------------------------------------

* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

* See LICENSE for the license information

* -------------------------------------------------------------------------- */

/**
* @file testSerializationHybrid.cpp
* @brief Unit tests for hybrid serialization
* @author Varun Agrawal
* @date January 2023
*/

#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridDiscreteFactor.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/inference/Symbol.h>

// Include for test suite
#include <CppUnitLite/TestHarness.h>

using namespace std;
using namespace gtsam;
using symbol_shorthand::M;
using symbol_shorthand::X;

using namespace serializationTestHelpers;

BOOST_CLASS_EXPORT_GUID(HybridFactor, "gtsam_HybridFactor");
BOOST_CLASS_EXPORT_GUID(JacobianFactor, "gtsam_JacobianFactor");

BOOST_CLASS_EXPORT_GUID(DecisionTreeFactor, "gtsam_DecisionTreeFactor");
using ADT = AlgebraicDecisionTree<Key>;
BOOST_CLASS_EXPORT_GUID(ADT, "gtsam_AlgebraicDecisionTree");
BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_DecisionTree_Leaf")
BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_DecisionTree_Choice")

BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor, "gtsam_GaussianMixtureFactor")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors, "gtsam_GaussianMixtureFactor_Factors")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors::Leaf, "gtsam_GaussianMixtureFactor_Factors_Leaf")
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixtureFactor::Factors::Choice, "gtsam_GaussianMixtureFactor_Factors_Choice")

// BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixture, "gtsam_GaussianMixture")
// BOOST_CLASS_EXPORT_GUID(gtsam::GaussianMixture::Conditionals,
// "gtsam_GaussianMixture_Conditionals")

/* ****************************************************************************/
// Test HybridGaussianFactor serialization.
TEST(HybridSerialization, HybridGaussianFactor) {
const HybridGaussianFactor factor(JacobianFactor(X(0), I_3x3, Z_3x1));

EXPECT(equalsObj<HybridGaussianFactor>(factor));
EXPECT(equalsXML<HybridGaussianFactor>(factor));
EXPECT(equalsBinary<HybridGaussianFactor>(factor));
}

/* ****************************************************************************/
// Test HybridDiscreteFactor serialization.
TEST(HybridSerialization, HybridDiscreteFactor) {
DiscreteKeys discreteKeys{{M(0), 2}};
const HybridDiscreteFactor factor(
DecisionTreeFactor(discreteKeys, std::vector<double>{0.4, 0.6}));

EXPECT(equalsObj<HybridDiscreteFactor>(factor));
EXPECT(equalsXML<HybridDiscreteFactor>(factor));
EXPECT(equalsBinary<HybridDiscreteFactor>(factor));
}

/* ****************************************************************************/
// Test GaussianMixtureFactor serialization.
TEST(HybridSerialization, GaussianMixtureFactor) {
KeyVector continuousKeys{X(0)};
DiscreteKeys discreteKeys{{M(0), 2}};

auto A = Matrix::Zero(2, 1);
auto b0 = Matrix::Zero(2, 1);
auto b1 = Matrix::Ones(2, 1);
auto f0 = boost::make_shared<JacobianFactor>(X(0), A, b0);
auto f1 = boost::make_shared<JacobianFactor>(X(0), A, b1);
std::vector<GaussianFactor::shared_ptr> factors{f0, f1};

const GaussianMixtureFactor factor(continuousKeys, discreteKeys, factors);

EXPECT(equalsObj<GaussianMixtureFactor>(factor));
EXPECT(equalsXML<GaussianMixtureFactor>(factor));
EXPECT(equalsBinary<GaussianMixtureFactor>(factor));
}

/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */