From d5160f70060fa745d678e557c56fa3a331607522 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 14 Sep 2024 14:57:55 -0400
Subject: [PATCH] update tests

---
 gtsam/hybrid/tests/testHybridEstimation.cpp          | 3 +--
 gtsam/hybrid/tests/testHybridGaussianConditional.cpp | 2 +-
 gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp | 4 ++--
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index f7e1a6cd6..8f9875a9a 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -544,8 +544,7 @@ std::shared_ptr<HybridGaussianFactor> mixedVarianceFactor(
 
   auto func =
       [&](const Assignment<Key>& assignment,
-          const GaussianFactorValuePair& gfv) -> GaussianFactorValuePair {
-    auto [gf, val] = gfv;
+          const GaussianFactor::shared_ptr& gf) -> GaussianFactorValuePair {
     if (assignment.at(mode) != tight_index) {
       double factor_log_constant = -0.5 * d * log2pi + log(1.0 / noise_loose);
 
diff --git a/gtsam/hybrid/tests/testHybridGaussianConditional.cpp b/gtsam/hybrid/tests/testHybridGaussianConditional.cpp
index cfa7e5a5a..6156fee96 100644
--- a/gtsam/hybrid/tests/testHybridGaussianConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianConditional.cpp
@@ -183,7 +183,7 @@ TEST(HybridGaussianConditional, Likelihood2) {
   // Check the detailed JacobianFactor calculation for mode==1.
   {
     // We have a JacobianFactor
-    const auto gf1 = (*likelihood)(assignment1).first;
+    const auto gf1 = (*likelihood)(assignment1);
     const auto jf1 = std::dynamic_pointer_cast<JacobianFactor>(gf1);
     CHECK(jf1);
 
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 69bc0dd58..122f905ff 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -734,8 +734,8 @@ TEST(HybridGaussianFactorGraph, assembleGraphTree) {
   // Expected decision tree with two factor graphs:
   // f(x0;mode=0)P(x0) and f(x0;mode=1)P(x0)
   GaussianFactorGraphTree expected{
-      M(0), GaussianFactorGraph(std::vector<GF>{(*mixture)(d0).first, prior}),
-      GaussianFactorGraph(std::vector<GF>{(*mixture)(d1).first, prior})};
+      M(0), GaussianFactorGraph(std::vector<GF>{(*mixture)(d0), prior}),
+      GaussianFactorGraph(std::vector<GF>{(*mixture)(d1), prior})};
 
   EXPECT(assert_equal(expected(d0), actual(d0), 1e-5));
   EXPECT(assert_equal(expected(d1), actual(d1), 1e-5));