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some fixes

release/4.3a0
Varun Agrawal 2023-03-04 20:28:28 -05:00
parent 269de94f9b
commit 28217ea767
2 changed files with 3 additions and 12 deletions
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2
gtsam/hybrid/GaussianMixtureFactor.h
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@ -144,7 +144,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
double error(const HybridValues &values) const override; double error(const HybridValues &values) const override;
/// Getter for GaussianFactor decision tree /// Getter for GaussianFactor decision tree
Factors factors() const { return factors_; } const Factors &factors() const { return factors_; }
/// Add MixtureFactor to a Sum, syntactic sugar. /// Add MixtureFactor to a Sum, syntactic sugar.
friend GaussianFactorGraphTree &operator+=( friend GaussianFactorGraphTree &operator+=(

13
gtsam/hybrid/tests/testHybridEstimation.cpp
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@ -530,8 +530,7 @@ std::shared_ptr<GaussianMixtureFactor> mixedVarianceFactor(
c(i) = std::sqrt(2.0 * (logConstant - factor_log_constant)); c(i) = std::sqrt(2.0 * (logConstant - factor_log_constant));
} }
auto constantFactor = std::make_shared<JacobianFactor>(c); _gfg.emplace_shared<JacobianFactor>(c);
_gfg.push_back(constantFactor);
return std::make_shared<JacobianFactor>(_gfg); return std::make_shared<JacobianFactor>(_gfg);
} else { } else {
return dynamic_pointer_cast<JacobianFactor>(gf); return dynamic_pointer_cast<JacobianFactor>(gf);
@ -607,12 +606,6 @@ TEST(HybridEstimation, ModeSelection) {
auto fg = bn.toFactorGraph(vv); auto fg = bn.toFactorGraph(vv);
auto expected_posterior = fg.eliminateSequential(); auto expected_posterior = fg.eliminateSequential();
// graph.print();
// gfg->print("Original Gaussian Factor Graph:");
// fg.print("\n\nFrom Bayes Net");
// bayesNet->print("\n\nBayes Net from FG");
// expected_posterior->print("\n\n");
EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6)); EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6));
} }
@ -644,9 +637,8 @@ TEST(HybridEstimation, ModeSelection2) {
auto fg = bn.toFactorGraph(vv); auto fg = bn.toFactorGraph(vv);
auto expected_posterior = fg.eliminateSequential(); auto expected_posterior = fg.eliminateSequential();
// expected_posterior->print("\n\n\nLikelihood BN:");
// std::cout << "\n\n==================\n\n" << std::endl; // =====================================
HybridNonlinearFactorGraph graph; HybridNonlinearFactorGraph graph;
Values initial; Values initial;
@ -681,7 +673,6 @@ TEST(HybridEstimation, ModeSelection2) {
HybridBayesNet::shared_ptr bayesNet = gfg->eliminateSequential(); HybridBayesNet::shared_ptr bayesNet = gfg->eliminateSequential();
// bayesNet->print();
EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6)); EXPECT(assert_equal(*expected_posterior, *bayesNet, 1e-6));
} }