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Fix compile error

release/4.3a0
Fan Jiang 2022-05-21 15:04:43 -07:00
parent 2c4990b613
commit 04593ccb00
1 changed files with 11 additions and 9 deletions
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20
gtsam/hybrid/tests/testHybridFactorGraph.cpp
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@ -72,7 +72,7 @@ void my_signal_handler(int signum) {
#endif #endif
/* ************************************************************************* */ /* ************************************************************************* */
TEST_DISABLED(HybridFactorGraph, creation) { TEST(HybridFactorGraph, creation) {
HybridConditional test; HybridConditional test;
HybridFactorGraph hfg; HybridFactorGraph hfg;
@ -89,7 +89,7 @@ TEST_DISABLED(HybridFactorGraph, creation) {
GTSAM_PRINT(clgc); GTSAM_PRINT(clgc);
} }
TEST_DISABLED(HybridFactorGraph, eliminate) { TEST(HybridFactorGraph, eliminate) {
HybridFactorGraph hfg; HybridFactorGraph hfg;
hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1))); hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
@ -99,7 +99,7 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
EXPECT_LONGS_EQUAL(result.first->size(), 1); EXPECT_LONGS_EQUAL(result.first->size(), 1);
} }
TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) { TEST(HybridFactorGraph, eliminateMultifrontal) {
HybridFactorGraph hfg; HybridFactorGraph hfg;
DiscreteKey c(C(1), 2); DiscreteKey c(C(1), 2);
@ -107,7 +107,9 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1)); hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8}))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
auto result = hfg.eliminatePartialMultifrontal({X(0)}); Ordering ordering;
ordering.push_back(X(0));
auto result = hfg.eliminatePartialMultifrontal(ordering);
EXPECT_LONGS_EQUAL(result.first->size(), 1); EXPECT_LONGS_EQUAL(result.first->size(), 1);
EXPECT_LONGS_EQUAL(result.second->size(), 1); EXPECT_LONGS_EQUAL(result.second->size(), 1);
@ -136,7 +138,7 @@ TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3); EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
} }
TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) { TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
std::cout << ">>>>>>>>>>>>>>\n"; std::cout << ">>>>>>>>>>>>>>\n";
HybridFactorGraph hfg; HybridFactorGraph hfg;
@ -165,7 +167,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) {
GTSAM_PRINT(*result); GTSAM_PRINT(*result);
} }
TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) { TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
std::cout << ">>>>>>>>>>>>>>\n"; std::cout << ">>>>>>>>>>>>>>\n";
HybridFactorGraph hfg; HybridFactorGraph hfg;
@ -199,7 +201,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
GTSAM_PRINT(*result->marginalFactor(C(2))); GTSAM_PRINT(*result->marginalFactor(C(2)));
} }
TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) { TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
std::cout << ">>>>>>>>>>>>>>\n"; std::cout << ">>>>>>>>>>>>>>\n";
HybridFactorGraph hfg; HybridFactorGraph hfg;
@ -236,7 +238,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
* This test is about how to assemble the Bayes Tree roots after we do partial * This test is about how to assemble the Bayes Tree roots after we do partial
* elimination * elimination
*/ */
TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) { TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
std::cout << ">>>>>>>>>>>>>>\n"; std::cout << ">>>>>>>>>>>>>>\n";
HybridFactorGraph hfg; HybridFactorGraph hfg;
@ -507,7 +509,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
} }
} }
TEST_DISABLED(HybridFactorGraph, SwitchingTwoVar) { TEST(HybridFactorGraph, SwitchingTwoVar) {
const int N = 7; const int N = 7;
auto hfg = makeSwitchingChain(N, X); auto hfg = makeSwitchingChain(N, X);
hfg->push_back(*makeSwitchingChain(N, Y, D)); hfg->push_back(*makeSwitchingChain(N, Y, D));