diff --git a/tests/testGaussianFactorGraph.cpp b/tests/testGaussianFactorGraph.cpp index 83830a119..0afeeca19 100644 --- a/tests/testGaussianFactorGraph.cpp +++ b/tests/testGaussianFactorGraph.cpp @@ -1010,6 +1010,26 @@ TEST(GaussianFactorGraph, replace) // EXPECT(assert_equal(fg_expected, fg)); //} +/* ************************************************************************* */ +TEST(GaussianFactorGraph, createSmoother2) +{ + using namespace example; + GaussianFactorGraph fg2; + Ordering ordering; + boost::tie(fg2,ordering) = createSmoother(3); + LONGS_EQUAL(5,fg2.size()); + + // eliminate + vector x3var; x3var.push_back(ordering["x3"]); + vector x1var; x1var.push_back(ordering["x1"]); + GaussianBayesNet p_x3 = *GaussianSequentialSolver( + *GaussianSequentialSolver(fg2).jointFactorGraph(x3var)).eliminate(); + GaussianBayesNet p_x1 = *GaussianSequentialSolver( + *GaussianSequentialSolver(fg2).jointFactorGraph(x1var)).eliminate(); + CHECK(assert_equal(*p_x1.back(),*p_x3.front())); // should be the same because of symmetry +} + + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */ diff --git a/tests/testInference.cpp b/tests/testInference.cpp index 27aca980c..5dc593538 100644 --- a/tests/testInference.cpp +++ b/tests/testInference.cpp @@ -32,25 +32,6 @@ using namespace gtsam; // specialized versions in the derived classes GaussianFactorGraph etc... /* ************************************************************************* */ -/* ************************************************************************* */ -TEST(GaussianFactorGraph, createSmoother) -{ - using namespace example; - GaussianFactorGraph fg2; - Ordering ordering; - boost::tie(fg2,ordering) = createSmoother(3); - LONGS_EQUAL(5,fg2.size()); - - // eliminate - vector x3var; x3var.push_back(ordering["x3"]); - vector x1var; x1var.push_back(ordering["x1"]); - GaussianBayesNet p_x3 = *GaussianSequentialSolver( - *GaussianSequentialSolver(fg2).jointFactorGraph(x3var)).eliminate(); - GaussianBayesNet p_x1 = *GaussianSequentialSolver( - *GaussianSequentialSolver(fg2).jointFactorGraph(x1var)).eliminate(); - CHECK(assert_equal(*p_x1.back(),*p_x3.front())); // should be the same because of symmetry -} - /* ************************************************************************* */ TEST( Inference, marginals ) {