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Extend ruleSPMultiplicationAGPN #108

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934ee95
Extend ruleSPMultiplicationAGPN
albertpod Aug 19, 2020
006de77
Fix multiplication test
albertpod Sep 1, 2020
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6 changes: 4 additions & 2 deletions src/engines/julia/update_rules/multiplication.jl
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Expand Up @@ -91,7 +91,7 @@ ruleSPMultiplicationIn1PNP(msg_out::Message{PointMass, Multivariate}, msg_in1::N
# Namely, Ax = y, where A ∈ R^{nx1}, x ∈ R^1, and y ∈ R^n. In this case, the matrix A
# can be represented by a n-dimensional vector, and x by a scalar. Before computation,
# quantities are converted to their proper dimensions (see situational sketch below).
#
#
# | a ~ Multivariate -> R^{nx1}
# v out ~ Multivariate -> R^n
# -->[x]-->
Expand All @@ -117,4 +117,6 @@ function ruleSPMultiplicationIn1GNP(msg_out::Message{F, Multivariate},
(dims(msg_in1_mult.dist) == 1) || error("Implicit conversion to Univariate failed for $(msg_in1_mult.dist)")

return Message(Univariate, GaussianWeightedMeanPrecision, xi=msg_in1_mult.dist.params[:xi][1], w=msg_in1_mult.dist.params[:w][1,1])
end
end

ruleSPMultiplicationAGPN(msg_out::Message{F, Multivariate}, msg_in1::Message{PointMass, Multivariate}, msg_a::Nothing) where F<:Gaussian = ruleSPMultiplicationIn1GNP(msg_out, nothing, msg_in1)
1 change: 1 addition & 0 deletions test/factor_nodes/test_multiplication.jl
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Expand Up @@ -77,6 +77,7 @@ end
@test isApplicable(SPMultiplicationAGPN, [Message{Gaussian}, Message{PointMass}, Nothing])

@test ruleSPMultiplicationAGPN(Message(Univariate, GaussianWeightedMeanPrecision, xi=1.0, w=3.0), Message(Univariate, PointMass, m=2.0), nothing) == Message(Univariate, GaussianWeightedMeanPrecision, xi=2.0, w=12.0)
@test ruleSPMultiplicationAGPN(Message(Multivariate, GaussianWeightedMeanPrecision, xi=[1.0], w=[3.0]), Message(Multivariate, PointMass, m=[2.0]), nothing) == Message(Univariate, GaussianWeightedMeanPrecision, xi=2.0, w=12.0 + tiny)
end

@testset "SPMultiplicationAPPN" begin
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