From 23031fbc04c075a6550f4c994f4b5fb6e1b354eb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 18 Nov 2009 17:28:07 +0000 Subject: [PATCH] convert clique into factor graph --- cpp/testIncremental.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/cpp/testIncremental.cpp b/cpp/testIncremental.cpp index dce4385f6..14ff05a3b 100644 --- a/cpp/testIncremental.cpp +++ b/cpp/testIncremental.cpp @@ -39,8 +39,14 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial, factorGraph.push_back(newFactor); // get the ELB clique + SymbolicBayesTree::sharedClique ELB = initial["B"]; + FactorGraph 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)); } /* ************************************************************************* */