diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp index 20fb3266e..5ec600aa8 100644 --- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp +++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp @@ -227,18 +227,13 @@ static HybridBayesNet GetGaussianMixtureModel(double mu0, double mu1, auto c0 = make_shared(z, Vector1(mu0), I_1x1, model0), c1 = make_shared(z, Vector1(mu1), I_1x1, model1); - - KeyVector frontalKeys{z}, continuousParents; - DiscreteKeys discreteParents{m}; - std::vector conditionals = {c0, c1}; - auto gm = make_shared(frontalKeys, continuousParents, - discreteParents, conditionals); - - HybridBayesNet hbn; - hbn.push_back(gm); + auto gm = new GaussianMixture({z}, {}, {m}, {c0, c1}); auto mixing = make_shared(m, "0.5/0.5"); - hbn.emplace_shared(mixing); + + HybridBayesNet hbn; + hbn.emplace_back(gm); + hbn.push_back(mixing); return hbn; }