diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp index 05f8c3d2a..1beac1994 100644 --- a/gtsam/linear/tests/testGaussianBayesTree.cpp +++ b/gtsam/linear/tests/testGaussianBayesTree.cpp @@ -83,13 +83,33 @@ TEST( GaussianBayesTree, eliminate ) { GaussianBayesTree bt = *chain.eliminateMultifrontal(chainOrdering); + Scatter scatter(chain); + BOOST_FOREACH(const Scatter::value_type& entry, scatter) + cout << entry.first << " " << entry.second.toString() << endl; + + EXPECT_LONGS_EQUAL(4, scatter.size()); + EXPECT_LONGS_EQUAL(0, scatter.at(x1).slot); + EXPECT_LONGS_EQUAL(1, scatter.at(x2).slot); + EXPECT_LONGS_EQUAL(2, scatter.at(x3).slot); + EXPECT_LONGS_EQUAL(3, scatter.at(x4).slot); + Matrix two = (Matrix(1, 1) << 2.).finished(); Matrix one = (Matrix(1, 1) << 1.).finished(); GaussianBayesTree bayesTree_expected; bayesTree_expected.insertRoot( - MakeClique(GaussianConditional(pair_list_of(x3, (Matrix(2, 1) << 2., 0.).finished()) (x4, (Matrix(2, 1) << 2., 2.).finished()), 2, Vector2(2., 2.)), list_of - (MakeClique(GaussianConditional(pair_list_of(x2, (Matrix(2, 1) << -2.*sqrt(2.), 0.).finished()) (x1, (Matrix(2, 1) << -sqrt(2.), -sqrt(2.)).finished()) (x3, (Matrix(2, 1) << -sqrt(2.), sqrt(2.)).finished()), 2, (Vector(2) << -2.*sqrt(2.), 0.).finished()))))); + MakeClique( + GaussianConditional( + pair_list_of(x3, (Matrix21() << 2., 0.).finished())( + x4, (Matrix21() << 2., 2.).finished()), 2, Vector2(2., 2.)), + list_of( + MakeClique( + GaussianConditional( + pair_list_of(x2, + (Matrix21() << -2. * sqrt(2.), 0.).finished())(x1, + (Matrix21() << -sqrt(2.), -sqrt(2.)).finished())(x3, + (Matrix21() << -sqrt(2.), sqrt(2.)).finished()), 2, + (Vector(2) << -2. * sqrt(2.), 0.).finished()))))); EXPECT(assert_equal(bayesTree_expected, bt)); }