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Various fixes for Hybrid #1369

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merged 6 commits into from
Jan 4, 2023
Merged

Various fixes for Hybrid #1369

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bb31956
enable previously failing test, now works!!
varunagrawal Jan 4, 2023
ed16c33
add check in GaussianMixtureFactor::likelihood
varunagrawal Jan 4, 2023
34daecd
remove deferredFactors
varunagrawal Jan 4, 2023
7dd4bc9
implement dim() for MixtureFactor
varunagrawal Jan 4, 2023
b16480b
simplify code
varunagrawal Jan 4, 2023
25fd618
rename getAssignment to assignment, fix printing
varunagrawal Jan 4, 2023
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implement dim() for MixtureFactor
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@varunagrawal
varunagrawal committed Jan 4, 2023
commit 7dd4bc990a09cc012931b70748534cf489b7fdcb
12 changes: 9 additions & 3 deletions gtsam/hybrid/MixtureFactor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,14 +162,20 @@ class MixtureFactor : public HybridFactor {
}

/// Error for HybridValues is not provided for nonlinear hybrid factor.
double error(const HybridValues &values) const override {
double error(const HybridValues& values) const override {
throw std::runtime_error(
"MixtureFactor::error(HybridValues) not implemented.");
}

/**
* @brief Get the dimension of the factor (number of rows on linearization).
* Returns the dimension of the first component factor.
* @return size_t
*/
size_t dim() const {
// TODO(Varun)
throw std::runtime_error("MixtureFactor::dim not implemented.");
const auto assignments = DiscreteValues::CartesianProduct(discreteKeys_);
auto factor = factors_(assignments.at(0));
return factor->dim();
}

/// Testable
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19 changes: 16 additions & 3 deletions gtsam/hybrid/tests/testMixtureFactor.cpp
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Expand Up @@ -70,8 +70,7 @@ MixtureFactor
}

/* ************************************************************************* */
// Test the error of the MixtureFactor
TEST(MixtureFactor, Error) {
static MixtureFactor getMixtureFactor() {
DiscreteKey m1(1, 2);

double between0 = 0.0;
Expand All @@ -86,21 +85,35 @@ TEST(MixtureFactor, Error) {
boost::make_shared<BetweenFactor<double>>(X(1), X(2), between1, model);
std::vector<NonlinearFactor::shared_ptr> factors{f0, f1};

MixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);
return MixtureFactor({X(1), X(2)}, {m1}, factors);
}

/* ************************************************************************* */
// Test the error of the MixtureFactor
TEST(MixtureFactor, Error) {
auto mixtureFactor = getMixtureFactor();

Values continuousValues;
continuousValues.insert<double>(X(1), 0);
continuousValues.insert<double>(X(2), 1);

AlgebraicDecisionTree<Key> error_tree = mixtureFactor.error(continuousValues);

DiscreteKey m1(1, 2);
std::vector<DiscreteKey> discrete_keys = {m1};
std::vector<double> errors = {0.5, 0};
AlgebraicDecisionTree<Key> expected_error(discrete_keys, errors);

EXPECT(assert_equal(expected_error, error_tree));
}

/* ************************************************************************* */
// Test dim of the MixtureFactor
TEST(MixtureFactor, Dim) {
auto mixtureFactor = getMixtureFactor();
EXPECT_LONGS_EQUAL(1, mixtureFactor.dim());
}

/* ************************************************************************* */
int main() {
TestResult tr;
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