diff --git a/gtsam/inference/tests/testSymbolicSequentialSolver.cpp b/gtsam/inference/tests/testSymbolicSequentialSolver.cpp index 943358b79..ef6f415e1 100644 --- a/gtsam/inference/tests/testSymbolicSequentialSolver.cpp +++ b/gtsam/inference/tests/testSymbolicSequentialSolver.cpp @@ -31,7 +31,7 @@ using namespace gtsam; TEST( SymbolicSequentialSolver, SymbolicSequentialSolver ) { // create factor graph SymbolicFactorGraph g; - g.push_factor(2, 2, 0); + g.push_factor(2, 1, 0); g.push_factor(2, 0); g.push_factor(2); // test solver is Testable @@ -116,12 +116,33 @@ TEST( SymbolicSequentialSolver, inference ) { SymbolicBayesNet::shared_ptr actualBN = // solver.conditionalBayesNet(js, nrFrontals); SymbolicBayesNet expectedBN; - expectedBN.push_front(boost::make_shared(3, 2)); - expectedBN.push_front(boost::make_shared(0, 3, 2)); + expectedBN.push_front(boost::make_shared(2, 3)); + expectedBN.push_front(boost::make_shared(0, 2, 3)); EXPECT( assert_equal(expectedBN,*actualBN)); } } +/* ************************************************************************* */ +// This test shows a problem with my (Frank) attempt at a faster conditionalBayesNet +TEST( SymbolicSequentialSolver, problematicConditional ) { + // Create factor graph + SymbolicFactorGraph fg; + fg.push_factor(9, 12, 14); + + // eliminate + SymbolicSequentialSolver solver(fg); + // conditionalBayesNet + vector js; + js.push_back(12); + js.push_back(14); + size_t nrFrontals = 1; + SymbolicBayesNet::shared_ptr actualBN = // + solver.conditionalBayesNet(js, nrFrontals); + SymbolicBayesNet expectedBN; + expectedBN.push_front(boost::make_shared(12,14)); + EXPECT( assert_equal(expectedBN,*actualBN)); +} + /* ************************************************************************* */ int main() { TestResult tr;