From 3f201f3f4b9010c7741c574bc8cf81a68f74c0b0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Jan 2023 12:18:45 -0500
Subject: [PATCH] specify ordering to match that of HybridGaussianISAM

---
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index 44a968895..08f94d88e 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -202,7 +202,9 @@ TEST(HybridBayesTree, Choose) {
 
   GaussianBayesTree gbt = isam.choose(assignment);
 
-  auto bayesTree = s.linearizedFactorGraph.eliminateMultifrontal();
+  // Specify ordering so it matches that of HybridGaussianISAM.
+  Ordering ordering(KeyVector{X(0), X(1), X(2), X(3), M(0), M(1), M(2)});
+  auto bayesTree = s.linearizedFactorGraph.eliminateMultifrontal(ordering);
 
   auto expected_gbt = bayesTree->choose(assignment);