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minor test cleanup

release/4.3a0
Varun Agrawal 2023-12-22 14:55:31 -05:00
parent 07ddec5f4b
commit c6584f63ce
1 changed files with 3 additions and 4 deletions
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7
gtsam/hybrid/tests/testMixtureFactor.cpp
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@ -202,20 +202,19 @@ TEST(MixtureFactor, DifferentCovariances) {
{Z(1)}, {X(1), X(2)}, {m1}, {Z(1)}, {X(1), X(2)}, {m1},
{std::make_shared<GaussianConditional>(terms0, 1, -d0, model0), {std::make_shared<GaussianConditional>(terms0, 1, -d0, model0),
std::make_shared<GaussianConditional>(terms1, 1, -d1, model1)}); std::make_shared<GaussianConditional>(terms1, 1, -d1, model1)});
gtsam::HybridBayesNet bn2; gtsam::HybridBayesNet bn;
bn2.emplace_back(gm); bn.emplace_back(gm);
gtsam::VectorValues measurements; gtsam::VectorValues measurements;
measurements.insert(Z(1), gtsam::Z_1x1); measurements.insert(Z(1), gtsam::Z_1x1);
// Create FG with single GaussianMixtureFactor // Create FG with single GaussianMixtureFactor
auto mixture_fg = bn2.toFactorGraph(measurements); HybridGaussianFactorGraph mixture_fg = bn.toFactorGraph(measurements);
// Linearized prior factor on X1 // Linearized prior factor on X1
auto prior = PriorFactor<double>(X(1), x1, prior_noise).linearize(values); auto prior = PriorFactor<double>(X(1), x1, prior_noise).linearize(values);
mixture_fg.push_back(prior); mixture_fg.push_back(prior);
auto hbn = mixture_fg.eliminateSequential(); auto hbn = mixture_fg.eliminateSequential();
// hbn->print("\n\nfinal bayes net");
HybridValues actual_values = hbn->optimize(); HybridValues actual_values = hbn->optimize();