From 7825ffd6d2d1c0b95c347a2521fcf44125cbe3c6 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 3 Jan 2023 03:47:27 -0500 Subject: [PATCH] fix tests due to change to EliminateDiscrete --- gtsam/hybrid/tests/testHybridGaussianISAM.cpp | 12 ++++++------ .../hybrid/tests/testHybridNonlinearFactorGraph.cpp | 2 +- gtsam/hybrid/tests/testHybridNonlinearISAM.cpp | 12 ++++++------ 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp index a9649f83f..1ce10b452 100644 --- a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp @@ -177,19 +177,19 @@ TEST(HybridGaussianElimination, IncrementalInference) { // Test the probability values with regression tests. DiscreteValues assignment; - EXPECT(assert_equal(0.000956191, m00_prob, 1e-5)); + EXPECT(assert_equal(0.0952922, m00_prob, 1e-5)); assignment[M(0)] = 0; assignment[M(1)] = 0; - EXPECT(assert_equal(0.000956191, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.0952922, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 1; assignment[M(1)] = 0; - EXPECT(assert_equal(0.00283728, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.282758, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 0; assignment[M(1)] = 1; - EXPECT(assert_equal(0.00315253, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.314175, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 1; assignment[M(1)] = 1; - EXPECT(assert_equal(0.00308831, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.307775, (*discreteConditional)(assignment), 1e-5)); // Check if the clique conditional generated from incremental elimination // matches that of batch elimination. @@ -199,7 +199,7 @@ TEST(HybridGaussianElimination, IncrementalInference) { isam[M(1)]->conditional()->inner()); // Account for the probability terms from evaluating continuous FGs DiscreteKeys discrete_keys = {{M(0), 2}, {M(1), 2}}; - vector probs = {0.00095619114, 0.0031525308, 0.0028372777, 0.0030883072}; + vector probs = {0.095292197, 0.31417524, 0.28275772, 0.30777485}; auto expectedConditional = boost::make_shared(discrete_keys, probs); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6)); diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp index 534119dc6..d84f4b352 100644 --- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp +++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp @@ -443,7 +443,7 @@ TEST(HybridFactorGraph, Full_Elimination) { ordering.clear(); for (size_t k = 0; k < self.K - 1; k++) ordering += M(k); discreteBayesNet = - *discrete_fg.eliminateSequential(ordering, EliminateForMPE); + *discrete_fg.eliminateSequential(ordering, EliminateDiscrete); } // Create ordering. diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp index 8b5bb41ac..68a55abdd 100644 --- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp +++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp @@ -195,19 +195,19 @@ TEST(HybridNonlinearISAM, IncrementalInference) { // Test the probability values with regression tests. DiscreteValues assignment; - EXPECT(assert_equal(0.000956191, m00_prob, 1e-5)); + EXPECT(assert_equal(0.0952922, m00_prob, 1e-5)); assignment[M(0)] = 0; assignment[M(1)] = 0; - EXPECT(assert_equal(0.000956191, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.0952922, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 1; assignment[M(1)] = 0; - EXPECT(assert_equal(0.00283728, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.282758, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 0; assignment[M(1)] = 1; - EXPECT(assert_equal(0.00315253, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.314175, (*discreteConditional)(assignment), 1e-5)); assignment[M(0)] = 1; assignment[M(1)] = 1; - EXPECT(assert_equal(0.00308831, (*discreteConditional)(assignment), 1e-5)); + EXPECT(assert_equal(0.307775, (*discreteConditional)(assignment), 1e-5)); // Check if the clique conditional generated from incremental elimination // matches that of batch elimination. @@ -216,7 +216,7 @@ TEST(HybridNonlinearISAM, IncrementalInference) { bayesTree[M(1)]->conditional()->inner()); // Account for the probability terms from evaluating continuous FGs DiscreteKeys discrete_keys = {{M(0), 2}, {M(1), 2}}; - vector probs = {0.00095619114, 0.0031525308, 0.0028372777, 0.0030883072}; + vector probs = {0.095292197, 0.31417524, 0.28275772, 0.30777485}; auto expectedConditional = boost::make_shared(discrete_keys, probs); EXPECT(assert_equal(*expectedConditional, *actualConditional, 1e-6));