From b5a1e9699a8d76b8736be6adf95d0b4ff11528f4 Mon Sep 17 00:00:00 2001 From: Ankur Roy Chowdhury Date: Sat, 4 Feb 2023 20:11:19 -0800 Subject: [PATCH] fix testKruskal --- gtsam/base/tests/testKruskal.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/gtsam/base/tests/testKruskal.cpp b/gtsam/base/tests/testKruskal.cpp index 5fe261d34..9d808670a 100644 --- a/gtsam/base/tests/testKruskal.cpp +++ b/gtsam/base/tests/testKruskal.cpp @@ -67,12 +67,13 @@ gtsam::NonlinearFactorGraph makeTestNonlinearFactorGraph() { TEST(kruskal, GaussianFactorGraph) { using namespace gtsam; + // Create factor graph. const auto g = makeTestGaussianFactorGraph(); - const FastMap forward_ordering = Ordering::Natural(g).invert(); + // Assign weights to all the edges in the graph. const auto weights = std::vector(g.size(), 1.0); - const auto mstEdgeIndices = utils::kruskal(g, forward_ordering, weights); + const auto mstEdgeIndices = utils::kruskal(g, weights); EXPECT(mstEdgeIndices[0] == 0); EXPECT(mstEdgeIndices[1] == 1); @@ -83,12 +84,13 @@ TEST(kruskal, GaussianFactorGraph) { TEST(kruskal, NonlinearFactorGraph) { using namespace gtsam; + // Create factor graph. const auto g = makeTestNonlinearFactorGraph(); - const FastMap forward_ordering = Ordering::Natural(g).invert(); + // Assign weights to all the edges in the graph. const auto weights = std::vector(g.size(), 1.0); - const auto mstEdgeIndices = utils::kruskal(g, forward_ordering, weights); + const auto mstEdgeIndices = utils::kruskal(g, weights); EXPECT(mstEdgeIndices[0] == 0); EXPECT(mstEdgeIndices[1] == 1);