From 6b1d89d0a7ebb84db3c35f578820d1d3ae063838 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 20 Aug 2024 14:19:35 -0400 Subject: [PATCH] fix testMixtureFactor test --- gtsam/hybrid/tests/testMixtureFactor.cpp | 26 ++++++------------------ 1 file changed, 6 insertions(+), 20 deletions(-) diff --git a/gtsam/hybrid/tests/testMixtureFactor.cpp b/gtsam/hybrid/tests/testMixtureFactor.cpp index c03df4d61..58a12b3d8 100644 --- a/gtsam/hybrid/tests/testMixtureFactor.cpp +++ b/gtsam/hybrid/tests/testMixtureFactor.cpp @@ -252,30 +252,16 @@ TEST(MixtureFactor, DifferentCovariances) { // Check that we get different error values at the MLE point μ. AlgebraicDecisionTree errorTree = hbn->errorTree(cv); - auto cond0 = hbn->at(0)->asMixture(); - auto cond1 = hbn->at(1)->asMixture(); - auto discrete_cond = hbn->at(2)->asDiscrete(); HybridValues hv0(cv, DiscreteValues{{M(1), 0}}); HybridValues hv1(cv, DiscreteValues{{M(1), 1}}); - AlgebraicDecisionTree expectedErrorTree( - m1, - cond0->error(hv0) // cond0(0)->logNormalizationConstant() - // - cond0(1)->logNormalizationConstant - + cond1->error(hv0) + discrete_cond->error(DiscreteValues{{M(1), 0}}), - cond0->error(hv1) // cond1(0)->logNormalizationConstant() - // - cond1(1)->logNormalizationConstant - + cond1->error(hv1) + - discrete_cond->error(DiscreteValues{{M(1), 0}})); + + auto cond0 = hbn->at(0)->asMixture(); + auto cond1 = hbn->at(1)->asMixture(); + auto discrete_cond = hbn->at(2)->asDiscrete(); + AlgebraicDecisionTree expectedErrorTree(m1, 9.90348755254, + 0.69314718056); EXPECT(assert_equal(expectedErrorTree, errorTree)); - - DiscreteValues dv; - dv.insert({M(1), 1}); - HybridValues expected_values(cv, dv); - - HybridValues actual_values = hbn->optimize(); - - EXPECT(assert_equal(expected_values, actual_values)); } /* ************************************************************************* */