diff --git a/gtsam/hybrid/tests/testGaussianMixture.cpp b/gtsam/hybrid/tests/testGaussianMixture.cpp index 242c9ba41..56dc24cf1 100644 --- a/gtsam/hybrid/tests/testGaussianMixture.cpp +++ b/gtsam/hybrid/tests/testGaussianMixture.cpp @@ -179,7 +179,8 @@ TEST(GaussianMixture, Likelihood) { const GaussianMixtureFactor::Factors factors( gm.conditionals(), [measurements](const GaussianConditional::shared_ptr& conditional) { - return conditional->likelihood(measurements); + return std::make_pair(conditional->likelihood(measurements), + 0.5 * conditional->logDeterminant()); }); const GaussianMixtureFactor expected({X(0)}, {mode}, factors); EXPECT(assert_equal(*factor, expected));