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fix testKruskal

release/4.3a0
Ankur Roy Chowdhury 2023-02-04 20:11:19 -08:00
parent 3f65cfb218
commit b5a1e9699a
1 changed files with 6 additions and 4 deletions
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10
gtsam/base/tests/testKruskal.cpp
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@ -67,12 +67,13 @@ gtsam::NonlinearFactorGraph makeTestNonlinearFactorGraph() {
TEST(kruskal, GaussianFactorGraph) { TEST(kruskal, GaussianFactorGraph) {
using namespace gtsam; using namespace gtsam;
// Create factor graph.
const auto g = makeTestGaussianFactorGraph(); const auto g = makeTestGaussianFactorGraph();
const FastMap<Key, size_t> forward_ordering = Ordering::Natural(g).invert(); // Assign weights to all the edges in the graph.
const auto weights = std::vector<double>(g.size(), 1.0); const auto weights = std::vector<double>(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[0] == 0);
EXPECT(mstEdgeIndices[1] == 1); EXPECT(mstEdgeIndices[1] == 1);
@ -83,12 +84,13 @@ TEST(kruskal, GaussianFactorGraph) {
TEST(kruskal, NonlinearFactorGraph) { TEST(kruskal, NonlinearFactorGraph) {
using namespace gtsam; using namespace gtsam;
// Create factor graph.
const auto g = makeTestNonlinearFactorGraph(); const auto g = makeTestNonlinearFactorGraph();
const FastMap<Key, size_t> forward_ordering = Ordering::Natural(g).invert(); // Assign weights to all the edges in the graph.
const auto weights = std::vector<double>(g.size(), 1.0); const auto weights = std::vector<double>(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[0] == 0);
EXPECT(mstEdgeIndices[1] == 1); EXPECT(mstEdgeIndices[1] == 1);