From 96afdffae86fab3fcd4af37e8f14bd75628fc4ff Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Oct 2022 23:32:52 -0400
Subject: [PATCH] Increase the number of time steps for incremental test case

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 9104ad584..7d276094e 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -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;