12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update after merge

release/4.3a0
Varun Agrawal 2024-09-13 13:40:22 -04:00
parent 43f02ad176
commit 8da15fd3e0
1 changed files with 4 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/hybrid/tests/testHybridGaussianFactor.cpp
View File

@ -399,17 +399,15 @@ void addMeasurement(HybridBayesNet& hbn, Key z_key, Key x_key, double sigma) {
} }
/// Create hybrid motion model p(x1 | x0, m1) /// Create hybrid motion model p(x1 | x0, m1)
static GaussianMixture::shared_ptr CreateHybridMotionModel(double mu0, static HybridGaussianConditional::shared_ptr CreateHybridMotionModel(
double mu1, double mu0, double mu1, double sigma0, double sigma1) {
double sigma0,
double sigma1) {
auto model0 = noiseModel::Isotropic::Sigma(1, sigma0); auto model0 = noiseModel::Isotropic::Sigma(1, sigma0);
auto model1 = noiseModel::Isotropic::Sigma(1, sigma1); auto model1 = noiseModel::Isotropic::Sigma(1, sigma1);
auto c0 = make_shared<GaussianConditional>(X(1), Vector1(mu0), I_1x1, X(0), auto c0 = make_shared<GaussianConditional>(X(1), Vector1(mu0), I_1x1, X(0),
-I_1x1, model0), -I_1x1, model0),
c1 = make_shared<GaussianConditional>(X(1), Vector1(mu1), I_1x1, X(0), c1 = make_shared<GaussianConditional>(X(1), Vector1(mu1), I_1x1, X(0),
-I_1x1, model1); -I_1x1, model1);
return std::make_shared<GaussianMixture>( return std::make_shared<HybridGaussianConditional>(
KeyVector{X(1)}, KeyVector{X(0)}, DiscreteKeys{m1}, std::vector{c0, c1}); KeyVector{X(1)}, KeyVector{X(0)}, DiscreteKeys{m1}, std::vector{c0, c1});
} }
@ -621,7 +619,7 @@ TEST(HybridGaussianFactor, TwoStateModel2) {
* measurements and vastly different motion model: either stand still or move * measurements and vastly different motion model: either stand still or move
* far. This yields a very informative posterior. * far. This yields a very informative posterior.
*/ */
TEST(GaussianMixtureFactor, TwoStateModel3) { TEST(HybridGaussianFactor, TwoStateModel3) {
using namespace test_two_state_estimation; using namespace test_two_state_estimation;
double mu0 = 0.0, mu1 = 10.0; double mu0 = 0.0, mu1 = 10.0;