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fixes after rebase

release/4.3a0
Kartik Arcot 2023-01-22 08:55:21 -08:00
parent 703cb5cbc7
commit dc4842c727
3 changed files with 4 additions and 4 deletions
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4
gtsam/hybrid/GaussianMixture.cpp
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@ -208,9 +208,9 @@ std::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
gfg.push_back(likelihood_m); gfg.push_back(likelihood_m);
Vector c(1); Vector c(1);
c << std::sqrt(2.0 * Cgm_Kgcm); c << std::sqrt(2.0 * Cgm_Kgcm);
auto constantFactor = boost::make_shared<JacobianFactor>(c); auto constantFactor = std::make_shared<JacobianFactor>(c);
gfg.push_back(constantFactor); gfg.push_back(constantFactor);
return boost::make_shared<JacobianFactor>(gfg); return std::make_shared<JacobianFactor>(gfg);
} }
}); });
return std::make_shared<GaussianMixtureFactor>( return std::make_shared<GaussianMixtureFactor>(

2
gtsam/hybrid/HybridNonlinearFactorGraph.h
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@ -74,7 +74,7 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
* @param continuousValues: Dictionary of continuous values. * @param continuousValues: Dictionary of continuous values.
* @return HybridGaussianFactorGraph::shared_ptr * @return HybridGaussianFactorGraph::shared_ptr
*/ */
boost::shared_ptr<HybridGaussianFactorGraph> linearize( std::shared_ptr<HybridGaussianFactorGraph> linearize(
const Values& continuousValues) const; const Values& continuousValues) const;
/// @} /// @}
}; };

2
gtsam/hybrid/tests/testGaussianMixture.cpp
View File

@ -185,7 +185,7 @@ TEST(GaussianMixture, Likelihood2) {
{ {
// We have a JacobianFactor // We have a JacobianFactor
const auto gf1 = (*likelihood)(assignment1); const auto gf1 = (*likelihood)(assignment1);
const auto jf1 = boost::dynamic_pointer_cast<JacobianFactor>(gf1); const auto jf1 = std::dynamic_pointer_cast<JacobianFactor>(gf1);
CHECK(jf1); CHECK(jf1);
// It has 2 rows, not 1! // It has 2 rows, not 1!