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Fix some merging-dependent tests

release/4.3a0
Frank Dellaert 2025-02-02 21:29:24 -05:00
parent 43544ae194
commit 6f11b4a870
2 changed files with 25 additions and 11 deletions
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18
gtsam/hybrid/tests/testHybridGaussianConditional.cpp
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@ -318,21 +318,27 @@ TEST(HybridGaussianConditional, Restrict) {
const auto hc =
std::make_shared<HybridConditional>(two_mode_measurement::hgc);
const HybridConditional::shared_ptr same = hc->restrict({});
const auto same =
std::dynamic_pointer_cast<HybridConditional>(hc->restrict({}));
CHECK(same);
EXPECT(same->isHybrid());
EXPECT(same->asHybrid()->nrComponents() == 4);
const HybridConditional::shared_ptr oneParent = hc->restrict({{M(1), 0}});
const auto oneParent =
std::dynamic_pointer_cast<HybridConditional>(hc->restrict({{M(1), 0}}));
CHECK(oneParent);
EXPECT(oneParent->isHybrid());
EXPECT(oneParent->asHybrid()->nrComponents() == 2);
const HybridConditional::shared_ptr oneParent2 =
hc->restrict({{M(7), 0}, {M(1), 0}});
const auto oneParent2 = std::dynamic_pointer_cast<HybridConditional>(
hc->restrict({{M(7), 0}, {M(1), 0}}));
CHECK(oneParent2);
EXPECT(oneParent2->isHybrid());
EXPECT(oneParent2->asHybrid()->nrComponents() == 2);
const HybridConditional::shared_ptr gaussian =
hc->restrict({{M(1), 0}, {M(2), 1}});
const auto gaussian = std::dynamic_pointer_cast<HybridConditional>(
hc->restrict({{M(1), 0}, {M(2), 1}}));
CHECK(gaussian);
EXPECT(gaussian->asGaussian());
}

18
gtsam/hybrid/tests/testHybridSmoother.cpp
View File

@ -102,12 +102,16 @@ TEST(HybridSmoother, IncrementalSmoother) {
graph.resize(0);
}
EXPECT_LONGS_EQUAL(11,
smoother.hybridBayesNet().at(5)->asDiscrete()->nrValues());
auto& hybridBayesNet = smoother.hybridBayesNet();
#ifdef GTSAM_DT_MERGING
EXPECT_LONGS_EQUAL(11, hybridBayesNet.at(5)->asDiscrete()->nrValues());
#else
EXPECT_LONGS_EQUAL(16, hybridBayesNet.at(5)->asDiscrete()->nrValues());
#endif
// Get the continuous delta update as well as
// the optimal discrete assignment.
HybridValues delta = smoother.hybridBayesNet().optimize();
HybridValues delta = hybridBayesNet.optimize();
// Check discrete assignment
DiscreteValues expected_discrete;
@ -156,8 +160,12 @@ TEST(HybridSmoother, ValidPruningError) {
graph.resize(0);
}
EXPECT_LONGS_EQUAL(14,
smoother.hybridBayesNet().at(8)->asDiscrete()->nrValues());
auto& hybridBayesNet = smoother.hybridBayesNet();
#ifdef GTSAM_DT_MERGING
EXPECT_LONGS_EQUAL(14, hybridBayesNet.at(8)->asDiscrete()->nrValues());
#else
EXPECT_LONGS_EQUAL(128, hybridBayesNet.at(8)->asDiscrete()->nrValues());
#endif
// Get the continuous delta update as well as
// the optimal discrete assignment.