From 665cb29b3f1a9095e42fd37b18d507a9e4622ad6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 1 Jan 2023 17:44:39 -0500 Subject: [PATCH] Make testcase exactly 5.0 mean --- gtsam/hybrid/tests/TinyHybridExample.h | 2 +- gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp | 9 ++++----- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/gtsam/hybrid/tests/TinyHybridExample.h b/gtsam/hybrid/tests/TinyHybridExample.h index 899a353b6..bdd638be7 100644 --- a/gtsam/hybrid/tests/TinyHybridExample.h +++ b/gtsam/hybrid/tests/TinyHybridExample.h @@ -81,7 +81,7 @@ HybridGaussianFactorGraph createHybridGaussianFactorGraph( // Create a deterministic set of measurements: HybridValues values{{}, {{M(0), 0}}}; for (int i = 0; i < num_measurements; i++) { - values.insert(Z(i), Vector1(4.0 + 1.0 * i)); + values.insert(Z(i), Vector1(5.0 + 1.0 * i)); } return convertBayesNet(bayesNet, values); } else { diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp index 8f50895fe..4ac3ac4c4 100644 --- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp @@ -653,12 +653,11 @@ TEST(HybridGaussianFactorGraph, SumFrontals) { // Create Gaussian mixture on X(0). using tiny::mode; + // regression, but mean checked to be 5.0 in both cases: const auto conditional0 = boost::make_shared( - X(0), Vector1(12.7279), - I_1x1 * 2.82843); // regression, but mean checked to be 4.5 - const auto conditional1 = boost::make_shared( - X(0), Vector1(10.0831), - I_1x1 * 2.02759); // regression, but mean 4.97297is close to prior. + X(0), Vector1(14.1421), I_1x1 * 2.82843), + conditional1 = boost::make_shared( + X(0), Vector1(10.1379), I_1x1 * 2.02759); GaussianMixture gm({X(0)}, {}, {mode}, {conditional0, conditional1}); bayesNet.emplaceMixture(gm); // copy :-(