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Increase the number of time steps for incremental test case

release/4.3a0
Varun Agrawal 2022-10-31 23:32:52 -04:00
parent 1789bb74fe
commit 96afdffae8
1 changed files with 3 additions and 4 deletions
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7
gtsam/hybrid/tests/testHybridEstimation.cpp
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@ -72,12 +72,11 @@ Ordering getOrdering(HybridGaussianFactorGraph& factors,
/****************************************************************************/
// Test approximate inference with an additional pruning step.
TEST(HybridEstimation, Incremental) {
size_t K = 10;
std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6};
size_t K = 15;
std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6, 7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
// Ground truth discrete seq
std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0};
std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0};
Switching switching(K, 1.0, 0.1, measurements);
// HybridNonlinearISAM smoother;
HybridSmoother smoother;
HybridNonlinearFactorGraph graph;
Values initial;