missing include and formatting
parent
f39f678c14
commit
7603cd4871
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@ -22,6 +22,8 @@
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#include <gtsam/hybrid/HybridGaussianISAM.h>
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#include <gtsam/inference/DotWriter.h>
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#include <numeric>
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#include "Switching.h"
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// Include for test suite
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@ -62,7 +64,8 @@ std::vector<GaussianFactor::shared_ptr> components(Key key) {
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} // namespace two
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/* ************************************************************************* */
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TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalSimple) {
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TEST(HybridGaussianFactorGraph,
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HybridGaussianFactorGraphEliminateFullMultifrontalSimple) {
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HybridGaussianFactorGraph hfg;
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hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
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@ -179,10 +182,8 @@ TEST(HybridGaussianFactorGraph, Switching) {
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std::vector<int> naturalX(N);
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std::iota(naturalX.begin(), naturalX.end(), 1);
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std::vector<Key> ordX;
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std::transform(
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naturalX.begin(), naturalX.end(), std::back_inserter(ordX), [](int x) {
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return X(x);
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});
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std::transform(naturalX.begin(), naturalX.end(), std::back_inserter(ordX),
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[](int x) { return X(x); });
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auto [ndX, lvls] = makeBinaryOrdering(ordX);
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std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
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@ -195,10 +196,8 @@ TEST(HybridGaussianFactorGraph, Switching) {
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std::vector<int> naturalC(N - 1);
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std::iota(naturalC.begin(), naturalC.end(), 1);
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std::vector<Key> ordC;
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std::transform(
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naturalC.begin(), naturalC.end(), std::back_inserter(ordC), [](int x) {
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return M(x);
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});
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std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
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[](int x) { return M(x); });
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// std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
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const auto [ndC, lvls] = makeBinaryOrdering(ordC);
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@ -237,10 +236,8 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
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std::vector<int> naturalX(N);
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std::iota(naturalX.begin(), naturalX.end(), 1);
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std::vector<Key> ordX;
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std::transform(
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naturalX.begin(), naturalX.end(), std::back_inserter(ordX), [](int x) {
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return X(x);
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});
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std::transform(naturalX.begin(), naturalX.end(), std::back_inserter(ordX),
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[](int x) { return X(x); });
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auto [ndX, lvls] = makeBinaryOrdering(ordX);
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std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
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@ -253,10 +250,8 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
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std::vector<int> naturalC(N - 1);
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std::iota(naturalC.begin(), naturalC.end(), 1);
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std::vector<Key> ordC;
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std::transform(
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naturalC.begin(), naturalC.end(), std::back_inserter(ordC), [](int x) {
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return M(x);
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});
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std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
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[](int x) { return M(x); });
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// std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
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const auto [ndC, lvls] = makeBinaryOrdering(ordC);
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