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Fixed toFactorGraph and added test to verify

release/4.3a0
Frank Dellaert 2023-01-16 17:38:01 -08:00
parent 3a446d7008
commit 202a5a3264
2 changed files with 11 additions and 5 deletions
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2
gtsam/hybrid/HybridBayesNet.cpp
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@ -347,8 +347,6 @@ HybridGaussianFactorGraph HybridBayesNet::toFactorGraph(
fg.push_back(gc->likelihood(measurements)); fg.push_back(gc->likelihood(measurements));
} else if (auto gm = conditional->asMixture()) { } else if (auto gm = conditional->asMixture()) {
fg.push_back(gm->likelihood(measurements)); fg.push_back(gm->likelihood(measurements));
const auto constantsFactor = gm->normalizationConstants();
if (constantsFactor) fg.push_back(constantsFactor);
} else { } else {
throw std::runtime_error("Unknown conditional type"); throw std::runtime_error("Unknown conditional type");
} }

14
gtsam/hybrid/tests/testHybridBayesNet.cpp
View File

@ -77,9 +77,17 @@ TEST(HybridBayesNet, Tiny) {
auto bn = tiny::createHybridBayesNet(); auto bn = tiny::createHybridBayesNet();
EXPECT_LONGS_EQUAL(3, bn.size()); EXPECT_LONGS_EQUAL(3, bn.size());
const VectorValues measurements{{Z(0), Vector1(5.0)}}; const VectorValues vv{{Z(0), Vector1(5.0)}, {X(0), Vector1(5.0)}};
auto fg = bn.toFactorGraph(measurements); auto fg = bn.toFactorGraph(vv);
EXPECT_LONGS_EQUAL(4, fg.size()); EXPECT_LONGS_EQUAL(3, fg.size());
// Check that the ratio of probPrime to evaluate is the same for all modes.
std::vector<double> ratio(2);
for (size_t mode : {0, 1}) {
const HybridValues hv{vv, {{M(0), mode}}};
ratio[mode] = std::exp(-fg.error(hv)) / bn.evaluate(hv);
}
EXPECT_DOUBLES_EQUAL(ratio[0], ratio[1], 1e-8);
} }
/* ****************************************************************************/ /* ****************************************************************************/