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update tests

release/4.3a0
Varun Agrawal 2024-09-19 17:50:25 -04:00
parent d60a253fcb
commit cea0dd577d
2 changed files with 6 additions and 4 deletions
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5
gtsam/hybrid/tests/testHybridGaussianFactor.cpp
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@ -770,9 +770,10 @@ static HybridGaussianFactorGraph CreateFactorGraph(
->linearize(values); ->linearize(values);
// Create HybridGaussianFactor // Create HybridGaussianFactor
// We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|)
std::vector<GaussianFactorValuePair> factors{ std::vector<GaussianFactorValuePair> factors{
{f0, ComputeLogNormalizerConstant(model0)}, {f0, -2 * model0->logNormalizationConstant()},
{f1, ComputeLogNormalizerConstant(model1)}}; {f1, -2 * model1->logNormalizationConstant()}};
HybridGaussianFactor motionFactor({X(0), X(1)}, m1, factors); HybridGaussianFactor motionFactor({X(0), X(1)}, m1, factors);
HybridGaussianFactorGraph hfg; HybridGaussianFactorGraph hfg;

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

@ -868,9 +868,10 @@ static HybridNonlinearFactorGraph CreateFactorGraph(
std::make_shared<BetweenFactor<double>>(X(0), X(1), means[1], model1); std::make_shared<BetweenFactor<double>>(X(0), X(1), means[1], model1);
// Create HybridNonlinearFactor // Create HybridNonlinearFactor
// We multiply by -2 since the we want the underlying scalar to be log(|2πΣ|)
std::vector<NonlinearFactorValuePair> factors{ std::vector<NonlinearFactorValuePair> factors{
{f0, ComputeLogNormalizerConstant(model0)}, {f0, -2 * model0->logNormalizationConstant()},
{f1, ComputeLogNormalizerConstant(model1)}}; {f1, -2 * model1->logNormalizationConstant()}};
HybridNonlinearFactor mixtureFactor({X(0), X(1)}, m1, factors); HybridNonlinearFactor mixtureFactor({X(0), X(1)}, m1, factors);