From cea0dd577d087ec11e7585ea5f5b88970805447a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 19 Sep 2024 17:50:25 -0400
Subject: [PATCH] update tests

---
 gtsam/hybrid/tests/testHybridGaussianFactor.cpp       | 5 +++--
 gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp | 5 +++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp
index 63b37e7d4..1ecd77132 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp
@@ -770,9 +770,10 @@ static HybridGaussianFactorGraph CreateFactorGraph(
           ->linearize(values);
 
   // Create HybridGaussianFactor
+  // We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|)
   std::vector<GaussianFactorValuePair> factors{
-      {f0, ComputeLogNormalizerConstant(model0)},
-      {f1, ComputeLogNormalizerConstant(model1)}};
+      {f0, -2 * model0->logNormalizationConstant()},
+      {f1, -2 * model1->logNormalizationConstant()}};
   HybridGaussianFactor motionFactor({X(0), X(1)}, m1, factors);
 
   HybridGaussianFactorGraph hfg;
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 98bbd36d8..8d2a5a74b 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -868,9 +868,10 @@ static HybridNonlinearFactorGraph CreateFactorGraph(
       std::make_shared<BetweenFactor<double>>(X(0), X(1), means[1], model1);
 
   // Create HybridNonlinearFactor
+  // We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|)
   std::vector<NonlinearFactorValuePair> factors{
-      {f0, ComputeLogNormalizerConstant(model0)},
-      {f1, ComputeLogNormalizerConstant(model1)}};
+      {f0, -2 * model0->logNormalizationConstant()},
+      {f1, -2 * model1->logNormalizationConstant()}};
 
   HybridNonlinearFactor mixtureFactor({X(0), X(1)}, m1, factors);