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fix motion model for TwoStateModel test

release/4.3a0
Varun Agrawal 2024-08-29 19:38:00 -04:00
parent ca073fd9ef
commit b18dc3c812
1 changed files with 7 additions and 11 deletions
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18
gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
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@ -394,7 +394,7 @@ static HybridBayesNet CreateBayesNet(double mu0, double mu1, double sigma0,
double prior_sigma = 1e-3, double prior_sigma = 1e-3,
double measurement_sigma = 3.0) { double measurement_sigma = 3.0) {
DiscreteKey m1(M(1), 2); DiscreteKey m1(M(1), 2);
Key z0 = Z(0), z1 = Z(1), f01 = F(0); Key z0 = Z(0), z1 = Z(1);
Key x0 = X(0), x1 = X(1); Key x0 = X(0), x1 = X(1);
HybridBayesNet hbn; HybridBayesNet hbn;
@ -414,12 +414,12 @@ static HybridBayesNet CreateBayesNet(double mu0, double mu1, double sigma0,
// Add hybrid motion model // Add hybrid motion model
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>(f01, Vector1(mu0), I_1x1, x1, auto c0 = make_shared<GaussianConditional>(x1, Vector1(mu0), I_1x1, x0,
I_1x1, x0, -I_1x1, model0), -I_1x1, model0),
c1 = make_shared<GaussianConditional>(f01, Vector1(mu1), I_1x1, x1, c1 = make_shared<GaussianConditional>(x1, Vector1(mu1), I_1x1, x0,
I_1x1, x0, -I_1x1, model1); -I_1x1, model1);
auto motion = new GaussianMixture({f01}, {x0, x1}, {m1}, {c0, c1}); auto motion = new GaussianMixture({x1}, {x0}, {m1}, {c0, c1});
hbn.emplace_back(motion); hbn.emplace_back(motion);
if (add_second_measurement) { if (add_second_measurement) {
@ -458,15 +458,13 @@ TEST(GaussianMixtureFactor, TwoStateModel) {
double sigma = 2.0; double sigma = 2.0;
DiscreteKey m1(M(1), 2); DiscreteKey m1(M(1), 2);
Key z0 = Z(0), z1 = Z(1), f01 = F(0); Key z0 = Z(0), z1 = Z(1);
// Start with no measurement on x1, only on x0 // Start with no measurement on x1, only on x0
HybridBayesNet hbn = CreateBayesNet(mu0, mu1, sigma, sigma, false); HybridBayesNet hbn = CreateBayesNet(mu0, mu1, sigma, sigma, false);
VectorValues given; VectorValues given;
given.insert(z0, Vector1(0.5)); given.insert(z0, Vector1(0.5));
// The motion model measurement says we didn't move
given.insert(f01, Vector1(0.0));
{ {
HybridGaussianFactorGraph gfg = hbn.toFactorGraph(given); HybridGaussianFactorGraph gfg = hbn.toFactorGraph(given);
@ -523,8 +521,6 @@ TEST_DISABLED(GaussianMixtureFactor, TwoStateModel2) {
VectorValues given; VectorValues given;
given.insert(z0, Vector1(0.5)); given.insert(z0, Vector1(0.5));
// The motion model measurement says we didn't move
// given.insert(x1, Vector1(0.0));
{ {
// Start with no measurement on x1, only on x0 // Start with no measurement on x1, only on x0