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convert clique into factor graph

release/4.3a0
Frank Dellaert 2009-11-18 17:28:07 +00:00
parent 1edcdb6f80
commit 23031fbc04
1 changed files with 7 additions and 1 deletions
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8
cpp/testIncremental.cpp
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@ -39,8 +39,14 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
factorGraph.push_back(newFactor);
// get the ELB clique
SymbolicBayesTree::sharedClique ELB = initial["B"];
FactorGraph<SymbolicFactor> ELB_factors(*ELB);
// add it to the factor graph
// get the SLB clique
SymbolicBayesTree::sharedClique SLB = initial["S"];
// add it to the factor graph
// create an ordering ESLB
@ -90,7 +96,7 @@ TEST( BayesTree, iSAM )
SymbolicBayesTree actual = update(bayesTree, newFactor);
// Check whether the same
//CHECK(assert_equal(expected,actual));
CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */