From 083fd21d7a88ea0e5b687f825ff6e5bf90d6b714 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 7 Nov 2022 18:38:45 -0500
Subject: [PATCH] use long sequence in HybridEstimation test

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 82ce3bf9d..b5a77fa3c 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -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;