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combined update and pruning

release/4.3a0
Varun Agrawal 2024-11-01 20:29:24 -04:00
parent 1b5a6ebba9
commit d091a9d440
1 changed files with 4 additions and 7 deletions
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11
gtsam/hybrid/tests/testHybridGaussianISAM.cpp
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@ -258,7 +258,7 @@ TEST(HybridGaussianElimination, Approx_inference) {
/* ****************************************************************************/ /* ****************************************************************************/
// Test approximate inference with an additional pruning step. // Test approximate inference with an additional pruning step.
TEST_DISABLED(HybridGaussianElimination, IncrementalApproximate) { TEST(HybridGaussianElimination, IncrementalApproximate) {
Switching switching(5); Switching switching(5);
HybridGaussianISAM incrementalHybrid; HybridGaussianISAM incrementalHybrid;
HybridGaussianFactorGraph graph; HybridGaussianFactorGraph graph;
@ -277,8 +277,7 @@ TEST_DISABLED(HybridGaussianElimination, IncrementalApproximate) {
// Run update with pruning // Run update with pruning
size_t maxComponents = 5; size_t maxComponents = 5;
incrementalHybrid.update(graph); incrementalHybrid.update(graph, maxComponents);
incrementalHybrid.prune(maxComponents);
// Check if we have a bayes tree with 4 hybrid nodes, // Check if we have a bayes tree with 4 hybrid nodes,
// each with 2, 4, 8, and 5 (pruned) leaves respectively. // 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 graph.push_back(switching.linearUnaryFactors.at(4)); // x4
// Run update with pruning a second time. // Run update with pruning a second time.
incrementalHybrid.update(graph); incrementalHybrid.update(graph, maxComponents);
incrementalHybrid.prune(maxComponents);
// Check if we have a bayes tree with pruned hybrid nodes, // Check if we have a bayes tree with pruned hybrid nodes,
// with 5 (pruned) leaves. // with 5 (pruned) leaves.
@ -470,8 +468,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
fg = HybridNonlinearFactorGraph(); fg = HybridNonlinearFactorGraph();
// Keep pruning! // Keep pruning!
inc.update(gfg); inc.update(gfg, 3);
inc.prune(3);
// The final discrete graph should not be empty since we have eliminated // The final discrete graph should not be empty since we have eliminated
// all continuous variables. // all continuous variables.