12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

use sharedMeanAndStddev

release/4.3a0
Frank Dellaert 2023-01-04 21:10:48 -08:00
parent 9eb4ac6848
commit 381087f48d
1 changed files with 7 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
gtsam/hybrid/tests/TinyHybridExample.h
View File

@ -42,19 +42,18 @@ inline HybridBayesNet createHybridBayesNet(int numMeasurements = 1,
// Create Gaussian mixture z_i = x0 + noise for each measurement. // Create Gaussian mixture z_i = x0 + noise for each measurement.
for (int i = 0; i < numMeasurements; i++) { for (int i = 0; i < numMeasurements; i++) {
const auto conditional0 = boost::make_shared<GaussianConditional>(
GaussianConditional::FromMeanAndStddev(Z(i), I_1x1, X(0), Z_1x1, 0.5));
const auto conditional1 = boost::make_shared<GaussianConditional>(
GaussianConditional::FromMeanAndStddev(Z(i), I_1x1, X(0), Z_1x1, 3));
const auto mode_i = manyModes ? DiscreteKey{M(i), 2} : mode; const auto mode_i = manyModes ? DiscreteKey{M(i), 2} : mode;
GaussianMixture gm({Z(i)}, {X(0)}, {mode_i}, {conditional0, conditional1}); GaussianMixture gm({Z(i)}, {X(0)}, {mode_i},
{GaussianConditional::sharedMeanAndStddev(
Z(i), I_1x1, X(0), Z_1x1, 0.5),
GaussianConditional::sharedMeanAndStddev(
Z(i), I_1x1, X(0), Z_1x1, 3)});
bayesNet.emplaceMixture(gm); // copy :-( bayesNet.emplaceMixture(gm); // copy :-(
} }
// Create prior on X(0). // Create prior on X(0).
const auto prior_on_x0 = bayesNet.addGaussian(
GaussianConditional::FromMeanAndStddev(X(0), Vector1(5.0), 0.5); GaussianConditional::sharedMeanAndStddev(X(0), Vector1(5.0), 0.5));
bayesNet.emplaceGaussian(prior_on_x0); // copy :-(
// Add prior on mode. // Add prior on mode.
const size_t nrModes = manyModes ? numMeasurements : 1; const size_t nrModes = manyModes ? numMeasurements : 1;