From d091a9d4402abe7c717015abe1c68ed4707659be Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 1 Nov 2024 20:29:24 -0400 Subject: [PATCH] combined update and pruning --- gtsam/hybrid/tests/testHybridGaussianISAM.cpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp index 79669cfb3..0e323f5b4 100644 --- a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp @@ -258,7 +258,7 @@ TEST(HybridGaussianElimination, Approx_inference) { /* ****************************************************************************/ // Test approximate inference with an additional pruning step. -TEST_DISABLED(HybridGaussianElimination, IncrementalApproximate) { +TEST(HybridGaussianElimination, IncrementalApproximate) { Switching switching(5); HybridGaussianISAM incrementalHybrid; HybridGaussianFactorGraph graph; @@ -277,8 +277,7 @@ TEST_DISABLED(HybridGaussianElimination, IncrementalApproximate) { // Run update with pruning size_t maxComponents = 5; - incrementalHybrid.update(graph); - incrementalHybrid.prune(maxComponents); + incrementalHybrid.update(graph, maxComponents); // Check if we have a bayes tree with 4 hybrid nodes, // each with 2, 4, 8, and 5 (pruned) leaves respectively. @@ -298,8 +297,7 @@ TEST_DISABLED(HybridGaussianElimination, IncrementalApproximate) { graph.push_back(switching.linearUnaryFactors.at(4)); // x4 // Run update with pruning a second time. - incrementalHybrid.update(graph); - incrementalHybrid.prune(maxComponents); + incrementalHybrid.update(graph, maxComponents); // Check if we have a bayes tree with pruned hybrid nodes, // with 5 (pruned) leaves. @@ -470,8 +468,7 @@ TEST(HybridGaussianISAM, NonTrivial) { fg = HybridNonlinearFactorGraph(); // Keep pruning! - inc.update(gfg); - inc.prune(3); + inc.update(gfg, 3); // The final discrete graph should not be empty since we have eliminated // all continuous variables.