From 74bddd9582d650e7542255ccd86354a5e1918192 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 26 Aug 2022 18:42:08 -0400 Subject: [PATCH] finish HybridBayesTree test --- gtsam/hybrid/tests/testHybridBayesTree.cpp | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp index ddc704460..a693af1b2 100644 --- a/gtsam/hybrid/tests/testHybridBayesTree.cpp +++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp @@ -79,23 +79,10 @@ TEST(HybridBayesTree, Optimize) { std::tie(hybridBayesNet, remainingFactorGraph) = s.linearizedFactorGraph.eliminatePartialSequential(ordering); - hybridBayesNet->print(); GaussianBayesNet gbn = hybridBayesNet->choose(assignment); + VectorValues expected = gbn.optimize(); - // EXPECT_LONGS_EQUAL(4, gbn.size()); - - // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast( - // hybridBayesNet->atGaussian(0)))(assignment), - // *gbn.at(0))); - // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast( - // hybridBayesNet->atGaussian(1)))(assignment), - // *gbn.at(1))); - // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast( - // hybridBayesNet->atGaussian(2)))(assignment), - // *gbn.at(2))); - // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast( - // hybridBayesNet->atGaussian(3)))(assignment), - // *gbn.at(3))); + EXPECT(assert_equal(expected, delta)); } /* ************************************************************************* */