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minor edits

release/4.3a0
Varun Agrawal 2024-08-21 20:07:03 -04:00
parent 75d4724668
commit dce56417bd
1 changed files with 6 additions and 8 deletions
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14
gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
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@ -209,14 +209,14 @@ TEST(GaussianMixtureFactor, Error) {
* or both for each hybrid factor component.
*
* @param values Initial values for linearization.
* @param means The mean values for the conditional components.
* @param mus The mean values for the conditional components.
* @param sigmas Noise model sigma values (standard deviation).
* @param m1 The discrete mode key.
* @param z1 The measurement value.
* @return HybridGaussianFactorGraph
*/
HybridGaussianFactorGraph GetFactorGraphFromBayesNet(
const gtsam::Values &values, const std::vector<double> &means,
const gtsam::Values &values, const std::vector<double> &mus,
const std::vector<double> &sigmas, DiscreteKey &m1, double z1 = 0.0) {
// Noise models
auto model0 = noiseModel::Isotropic::Sigma(1, sigmas[0]);
@ -224,11 +224,9 @@ HybridGaussianFactorGraph GetFactorGraphFromBayesNet(
auto prior_noise = noiseModel::Isotropic::Sigma(1, 1e-3);
// GaussianMixtureFactor component factors
auto f0 =
std::make_shared<BetweenFactor<double>>(X(1), X(2), means[0], model0);
auto f1 =
std::make_shared<BetweenFactor<double>>(X(1), X(2), means[1], model1);
std::vector<NonlinearFactor::shared_ptr> factors{f0, f1};
auto f0 = std::make_shared<BetweenFactor<double>>(X(1), X(2), mus[0], model0);
auto f1 = std::make_shared<BetweenFactor<double>>(X(1), X(2), mus[1], model1);
// std::vector<NonlinearFactor::shared_ptr> factors{f0, f1};
/// Get terms for each p^m(z1 | x1, x2)
Matrix H0_1, H0_2, H1_1, H1_2;
@ -275,7 +273,7 @@ HybridGaussianFactorGraph GetFactorGraphFromBayesNet(
* p(Z1 | X1, X2, M1) has 2 factors each for the binary mode m1, with only the
* means being different.
*/
TEST(GaussianMixtureFactor, DifferentMeansHBN) {
TEST(GaussianMixtureFactor, DifferentMeans) {
DiscreteKey m1(M(1), 2);
Values values;