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update HybridSmoother tests

release/4.3a0
Varun Agrawal 2025-01-23 21:13:39 -05:00
parent b4020ed67b
commit 8ad3cb6ba1
1 changed files with 4 additions and 6 deletions
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10
gtsam/hybrid/tests/testHybridSmoother.cpp
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@ -95,16 +95,15 @@ TEST(HybridSmoother, IncrementalSmoother) {
initial.insert(X(k), switching.linearizationPoint.at<double>(X(k)));
HybridGaussianFactorGraph linearized = *graph.linearize(initial);
Ordering ordering = smoother.getOrdering(linearized);
smoother.update(linearized, maxNrLeaves, ordering);
smoother.update(linearized, maxNrLeaves);
// Clear all the factors from the graph
graph.resize(0);
}
EXPECT_LONGS_EQUAL(11,
smoother.hybridBayesNet().at(0)->asDiscrete()->nrValues());
smoother.hybridBayesNet().at(3)->asDiscrete()->nrValues());
// Get the continuous delta update as well as
// the optimal discrete assignment.
@ -150,16 +149,15 @@ TEST(HybridSmoother, ValidPruningError) {
initial.insert(X(k), switching.linearizationPoint.at<double>(X(k)));
HybridGaussianFactorGraph linearized = *graph.linearize(initial);
Ordering ordering = smoother.getOrdering(linearized);
smoother.update(linearized, maxNrLeaves, ordering);
smoother.update(linearized, maxNrLeaves);
// Clear all the factors from the graph
graph.resize(0);
}
EXPECT_LONGS_EQUAL(14,
smoother.hybridBayesNet().at(0)->asDiscrete()->nrValues());
smoother.hybridBayesNet().at(6)->asDiscrete()->nrValues());
// Get the continuous delta update as well as
// the optimal discrete assignment.