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rename

release/4.3a0
Frank Dellaert 2023-01-02 13:06:17 -05:00
parent fbfc20b88d
commit 06aed5397a
1 changed files with 8 additions and 8 deletions
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16
gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
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@ -658,7 +658,7 @@ TEST(HybridGaussianFactorGraph, EliminateTiny1) {
tiny::createHybridGaussianFactorGraph(num_measurements, deterministic); tiny::createHybridGaussianFactorGraph(num_measurements, deterministic);
// Create expected Bayes Net: // Create expected Bayes Net:
HybridBayesNet bayesNet; HybridBayesNet expectedBayesNet;
// Create Gaussian mixture on X(0). // Create Gaussian mixture on X(0).
using tiny::mode; using tiny::mode;
@ -668,17 +668,17 @@ TEST(HybridGaussianFactorGraph, EliminateTiny1) {
conditional1 = boost::make_shared<GaussianConditional>( conditional1 = boost::make_shared<GaussianConditional>(
X(0), Vector1(10.1379), I_1x1 * 2.02759); X(0), Vector1(10.1379), I_1x1 * 2.02759);
GaussianMixture gm({X(0)}, {}, {mode}, {conditional0, conditional1}); GaussianMixture gm({X(0)}, {}, {mode}, {conditional0, conditional1});
bayesNet.emplaceMixture(gm); // copy :-( expectedBayesNet.emplaceMixture(gm); // copy :-(
// Add prior on mode. // Add prior on mode.
bayesNet.emplaceDiscrete(mode, "4/6"); expectedBayesNet.emplaceDiscrete(mode, "74/26");
// Test elimination // Test elimination
Ordering ordering; Ordering ordering;
ordering.push_back(X(0)); ordering.push_back(X(0));
ordering.push_back(M(0)); ordering.push_back(M(0));
const auto posterior = fg.eliminateSequential(ordering); const auto posterior = fg.eliminateSequential(ordering);
EXPECT(assert_equal(bayesNet, *posterior, 1e-4)); EXPECT(assert_equal(expectedBayesNet, *posterior, 1e-4));
} }
/* ****************************************************************************/ /* ****************************************************************************/
@ -690,7 +690,7 @@ TEST(HybridGaussianFactorGraph, EliminateTiny2) {
tiny::createHybridGaussianFactorGraph(num_measurements, deterministic); tiny::createHybridGaussianFactorGraph(num_measurements, deterministic);
// Create expected Bayes Net: // Create expected Bayes Net:
HybridBayesNet bayesNet; HybridBayesNet expectedBayesNet;
// Create Gaussian mixture on X(0). // Create Gaussian mixture on X(0).
using tiny::mode; using tiny::mode;
@ -700,17 +700,17 @@ TEST(HybridGaussianFactorGraph, EliminateTiny2) {
conditional1 = boost::make_shared<GaussianConditional>( conditional1 = boost::make_shared<GaussianConditional>(
X(0), Vector1(10.3281), I_1x1 * 2.0548); X(0), Vector1(10.3281), I_1x1 * 2.0548);
GaussianMixture gm({X(0)}, {}, {mode}, {conditional0, conditional1}); GaussianMixture gm({X(0)}, {}, {mode}, {conditional0, conditional1});
bayesNet.emplaceMixture(gm); // copy :-( expectedBayesNet.emplaceMixture(gm); // copy :-(
// Add prior on mode. // Add prior on mode.
bayesNet.emplaceDiscrete(mode, "4/6"); expectedBayesNet.emplaceDiscrete(mode, "4/6");
// Test elimination // Test elimination
Ordering ordering; Ordering ordering;
ordering.push_back(X(0)); ordering.push_back(X(0));
ordering.push_back(M(0)); ordering.push_back(M(0));
const auto posterior = fg.eliminateSequential(ordering); const auto posterior = fg.eliminateSequential(ordering);
EXPECT(assert_equal(bayesNet, *posterior, 1e-4)); EXPECT(assert_equal(expectedBayesNet, *posterior, 1e-4));
} }
/* ************************************************************************* */ /* ************************************************************************* */