12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

enable previously failing test, now works!!

release/4.3a0
Varun Agrawal 2023-01-04 02:52:33 -05:00
parent 4cb910ce16
commit bb31956a96
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/hybrid/tests/testHybridEstimation.cpp
View File

@ -114,7 +114,7 @@ TEST(HybridEstimation, Full) {
/****************************************************************************/ /****************************************************************************/
// Test approximate inference with an additional pruning step. // Test approximate inference with an additional pruning step.
TEST_DISABLED(HybridEstimation, Incremental) { TEST(HybridEstimation, Incremental) {
size_t K = 15; size_t K = 15;
std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6, 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}; 7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
@ -151,9 +151,6 @@ TEST_DISABLED(HybridEstimation, Incremental) {
graph.resize(0); graph.resize(0);
} }
/*TODO(Varun) Gives degenerate result due to probability underflow.
Need to normalize probabilities.
*/
HybridValues delta = smoother.hybridBayesNet().optimize(); HybridValues delta = smoother.hybridBayesNet().optimize();
Values result = initial.retract(delta.continuous()); Values result = initial.retract(delta.continuous());