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

Fixed tests

release/4.3a0
Frank Dellaert 2022-12-30 13:08:22 -05:00
parent 9cf3e5c26a
commit beda6878aa
4 changed files with 9 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -206,9 +206,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
};
sum = GaussianMixtureFactor::Sum(sum, emptyGaussian);
using EliminationPair =
std::pair<boost::shared_ptr<GaussianConditional>,
std::pair<boost::shared_ptr<GaussianFactor>, double>>;
using EliminationPair = std::pair<boost::shared_ptr<GaussianConditional>,
GaussianMixtureFactor::FactorAndConstant>;
KeyVector keysOfEliminated; // Not the ordering
KeyVector keysOfSeparator; // TODO(frank): Is this just (keys - ordering)?
@ -216,7 +215,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
// This is the elimination method on the leaf nodes
auto eliminate = [&](const GaussianFactorGraph &graph) -> EliminationPair {
if (graph.empty()) {
return {nullptr, std::make_pair(nullptr, 0.0)};
return {nullptr, {nullptr, 0.0}};
}
#ifdef HYBRID_TIMING
@ -236,11 +235,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
gttoc_(hybrid_eliminate);
#endif
std::pair<boost::shared_ptr<GaussianConditional>,
std::pair<boost::shared_ptr<GaussianFactor>, double>>
result = std::make_pair(conditional_factor.first,
std::make_pair(conditional_factor.second, 0.0));
return result;
return {conditional_factor.first, {conditional_factor.second, 0.0}};
};
// Perform elimination!

3
gtsam/hybrid/HybridGaussianFactorGraph.h
View File

@ -12,7 +12,7 @@
/**
* @file HybridGaussianFactorGraph.h
* @brief Linearized Hybrid factor graph that uses type erasure
* @author Fan Jiang, Varun Agrawal
* @author Fan Jiang, Varun Agrawal, Frank Dellaert
* @date Mar 11, 2022
*/
@ -38,6 +38,7 @@ class HybridBayesTree;
class HybridJunctionTree;
class DecisionTreeFactor;
class JacobianFactor;
class HybridValues;
/**
* @brief Main elimination function for HybridGaussianFactorGraph.

4
gtsam/hybrid/tests/testGaussianMixture.cpp
View File

@ -128,9 +128,9 @@ TEST(GaussianMixture, Error) {
// Regression for non-tree version.
DiscreteValues assignment;
assignment[M(1)] = 0;
EXPECT_DOUBLES_EQUAL(0.5, mixture.error(values, assignment), 1e-8);
EXPECT_DOUBLES_EQUAL(0.5, mixture.error({values, assignment}), 1e-8);
assignment[M(1)] = 1;
EXPECT_DOUBLES_EQUAL(4.3252595155709335, mixture.error(values, assignment),
EXPECT_DOUBLES_EQUAL(4.3252595155709335, mixture.error({values, assignment}),
1e-8);
}

2
gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
View File

@ -188,7 +188,7 @@ TEST(GaussianMixtureFactor, Error) {
DiscreteValues discreteValues;
discreteValues[m1.first] = 1;
EXPECT_DOUBLES_EQUAL(
4.0, mixtureFactor.error(continuousValues, discreteValues), 1e-9);
4.0, mixtureFactor.error({continuousValues, discreteValues}), 1e-9);
}
/* ************************************************************************* */