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fix test TODOs

release/4.3a0
Varun Agrawal 2024-10-10 09:32:55 -04:00
parent acda56d67b
commit 878c626a96
2 changed files with 10 additions and 7 deletions
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15
gtsam/hybrid/tests/testHybridGaussianProductFactor.cpp
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@ -128,7 +128,10 @@ TEST(HybridGaussianProductFactor, AsProductFactor) {
EXPECT(actual.first.at(0) == f10);
EXPECT_DOUBLES_EQUAL(10, actual.second, 1e-9);
// TODO(Frank): when killed hiding, f11 should also be there
mode[m1.first] = 1;
actual = product(mode);
EXPECT(actual.first.at(0) == f11);
EXPECT_DOUBLES_EQUAL(11, actual.second, 1e-9);
}
/* ************************************************************************* */
@ -145,7 +148,10 @@ TEST(HybridGaussianProductFactor, AddOne) {
EXPECT(actual.first.at(0) == f10);
EXPECT_DOUBLES_EQUAL(10, actual.second, 1e-9);
// TODO(Frank): when killed hiding, f11 should also be there
mode[m1.first] = 1;
actual = product(mode);
EXPECT(actual.first.at(0) == f11);
EXPECT_DOUBLES_EQUAL(11, actual.second, 1e-9);
}
/* ************************************************************************* */
@ -166,9 +172,8 @@ TEST(HybridGaussianProductFactor, AddTwo) {
EXPECT_DOUBLES_EQUAL(10 + 20, actual00.second, 1e-9);
auto actual12 = product({{M(1), 1}, {M(2), 2}});
// TODO(Frank): when killed hiding, these should also equal:
// EXPECT(actual12.first.at(0) == f11);
// EXPECT(actual12.first.at(1) == f22);
EXPECT(actual12.first.at(0) == f11);
EXPECT(actual12.first.at(1) == f22);
EXPECT_DOUBLES_EQUAL(11 + 22, actual12.second, 1e-9);
}

2
gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
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@ -973,8 +973,6 @@ TEST(HybridNonlinearFactorGraph, DifferentMeans) {
VectorValues cont0 = bn->optimize(dv0);
double error0 = bn->error(HybridValues(cont0, dv0));
// TODO(Varun) Perform importance sampling to estimate error?
// regression
EXPECT_DOUBLES_EQUAL(0.69314718056, error0, 1e-9);