some fixes
parent
269de94f9b
commit
28217ea767
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@ -144,7 +144,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
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double error(const HybridValues &values) const override;
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/// Getter for GaussianFactor decision tree
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Factors factors() const { return factors_; }
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const Factors &factors() const { return factors_; }
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/// Add MixtureFactor to a Sum, syntactic sugar.
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friend GaussianFactorGraphTree &operator+=(
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@ -530,8 +530,7 @@ std::shared_ptr<GaussianMixtureFactor> mixedVarianceFactor(
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c(i) = std::sqrt(2.0 * (logConstant - factor_log_constant));
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}
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auto constantFactor = std::make_shared<JacobianFactor>(c);
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_gfg.push_back(constantFactor);
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_gfg.emplace_shared<JacobianFactor>(c);
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return std::make_shared<JacobianFactor>(_gfg);
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} else {
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return dynamic_pointer_cast<JacobianFactor>(gf);
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@ -607,12 +606,6 @@ TEST(HybridEstimation, ModeSelection) {
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auto fg = bn.toFactorGraph(vv);
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auto expected_posterior = fg.eliminateSequential();
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// graph.print();
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// gfg->print("Original Gaussian Factor Graph:");
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// fg.print("\n\nFrom Bayes Net");
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// bayesNet->print("\n\nBayes Net from FG");
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// expected_posterior->print("\n\n");
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EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6));
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}
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@ -644,9 +637,8 @@ TEST(HybridEstimation, ModeSelection2) {
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auto fg = bn.toFactorGraph(vv);
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auto expected_posterior = fg.eliminateSequential();
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// expected_posterior->print("\n\n\nLikelihood BN:");
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// std::cout << "\n\n==================\n\n" << std::endl;
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// =====================================
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HybridNonlinearFactorGraph graph;
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Values initial;
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@ -681,7 +673,6 @@ TEST(HybridEstimation, ModeSelection2) {
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HybridBayesNet::shared_ptr bayesNet = gfg->eliminateSequential();
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// bayesNet->print();
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EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6));
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}
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