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minor improvements

release/4.3a0
Varun Agrawal 2024-10-28 18:52:43 -04:00
parent a7e48c0a81
commit 7c672bb91b
1 changed files with 2 additions and 3 deletions
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5
gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
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@ -195,7 +195,7 @@ TEST(HybridNonlinearISAM, IncrementalInference) {
} }
/* ****************************************************************************/ /* ****************************************************************************/
// Test if we can approximately do the inference // Test if we can approximately do the inference (using pruning)
TEST(HybridNonlinearISAM, ApproxInference) { TEST(HybridNonlinearISAM, ApproxInference) {
Switching switching(4); Switching switching(4);
HybridNonlinearISAM incrementalHybrid; HybridNonlinearISAM incrementalHybrid;
@ -325,7 +325,6 @@ TEST(HybridNonlinearISAM, IncrementalApproximate) {
// TODO(Frank): no mode chain? // TODO(Frank): no mode chain?
// Run update with pruning // Run update with pruning
size_t maxComponents = 5; size_t maxComponents = 5;
incrementalHybrid.update(graph, initial); incrementalHybrid.update(graph, initial);
@ -347,7 +346,7 @@ TEST(HybridNonlinearISAM, IncrementalApproximate) {
/***** Run Round 2 *****/ /***** Run Round 2 *****/
graph = HybridGaussianFactorGraph(); graph = HybridGaussianFactorGraph();
graph.push_back(switching.binaryFactors.at(3)); // x3-x4 graph.push_back(switching.binaryFactors.at(3)); // x3-x4
graph.push_back(switching.unaryFactors.at(4)); // x4 measurement graph.push_back(switching.unaryFactors.at(4)); // x4 measurement
initial = Values(); initial = Values();
initial.insert<double>(X(4), 5); initial.insert<double>(X(4), 5);