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update tests

release/4.3a0
Varun Agrawal 2022-05-27 15:17:30 -04:00
parent 6d26818e79
commit 7bfa011886
2 changed files with 12 additions and 11 deletions
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2
gtsam/hybrid/tests/Switching.h
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@ -38,7 +38,7 @@ inline HybridFactorGraph::shared_ptr makeSwitchingChain(
// keyFunc(1) to keyFunc(n+1)
for (size_t t = 1; t < n; t++) {
hfg.add(GaussianMixtureFactor::FromFactorList(
hfg.add(GaussianMixtureFactor::FromFactors(
{keyFunc(t), keyFunc(t + 1)}, {{dKeyFunc(t), 2}},
{boost::make_shared<JacobianFactor>(keyFunc(t), I_3x3, keyFunc(t + 1),
I_3x3, Z_3x1),

21
gtsam/hybrid/tests/testHybridFactorGraph.cpp
View File

@ -79,13 +79,14 @@ TEST(HybridFactorGraph, creation) {
hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
GaussianMixtureConditional clgc({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
GaussianMixtureConditional::Conditionals(
C(0),
boost::make_shared<GaussianConditional>(
X(0), Z_3x1, I_3x3, X(1), I_3x3),
boost::make_shared<GaussianConditional>(
X(0), Vector3::Ones(), I_3x3, X(1), I_3x3)));
GaussianMixtureConditional clgc(
{X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
GaussianMixtureConditional::Conditionals(
C(0),
boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
I_3x3),
boost::make_shared<GaussianConditional>(X(0), Vector3::Ones(), I_3x3,
X(1), I_3x3)));
GTSAM_PRINT(clgc);
}
@ -182,7 +183,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
// boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
// hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
hfg.add(GaussianMixtureFactor::FromFactorList(
hfg.add(GaussianMixtureFactor::FromFactors(
{X(1)}, {{C(1), 2}},
{boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())}));
@ -234,7 +235,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
*/
}
/**
/*
* This test is about how to assemble the Bayes Tree roots after we do partial
* elimination
*/
@ -251,7 +252,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
// C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
// boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
hfg.add(GaussianMixtureFactor::FromFactorList(
hfg.add(GaussianMixtureFactor::FromFactors(
{X(0)}, {{C(0), 2}},
{boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones())}));