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use long sequence in HybridEstimation test

release/4.3a0
Varun Agrawal 2022-11-07 18:38:45 -05:00
parent 090cc4256b
commit 083fd21d7a
1 changed files with 5 additions and 9 deletions
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14
gtsam/hybrid/tests/testHybridEstimation.cpp
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@ -72,16 +72,12 @@ Ordering getOrdering(HybridGaussianFactorGraph& factors,
/****************************************************************************/
// Test approximate inference with an additional pruning step.
TEST(HybridEstimation, Incremental) {
// size_t K = 15;
// std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6,
// 7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
// // Ground truth discrete seq
// std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0,
// 1, 1, 1, 0, 0, 1, 1, 0, 0, 0};
size_t K = 4;
std::vector<double> measurements = {0, 1, 2, 2};
size_t K = 15;
std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6,
7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
// Ground truth discrete seq
std::vector<size_t> discrete_seq = {1, 1, 0};
std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0,
1, 1, 1, 0, 0, 1, 1, 0, 0, 0};
Switching switching(K, 1.0, 0.1, measurements, "1/1 1/1");
HybridSmoother smoother;
HybridNonlinearFactorGraph graph;