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

Address comments

release/4.3a0
Frank Dellaert 2024-09-22 13:23:13 -07:00
parent 5efac18341
commit 39336a0b5b
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/hybrid/tests/testHybridGaussianFactor.cpp
View File

@ -55,7 +55,7 @@ TEST(HybridGaussianFactor, Constructor) {
}
/* ************************************************************************* */
namespace testA {
namespace test_constructor {
DiscreteKey m1(1, 2);
auto A1 = Matrix::Zero(2, 1);
@ -64,12 +64,12 @@ auto b = Matrix::Zero(2, 1);
auto f10 = std::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
auto f11 = std::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
} // namespace testA
} // namespace test_constructor
/* ************************************************************************* */
// Test simple to complex constructors...
TEST(HybridGaussianFactor, ConstructorVariants) {
using namespace testA;
using namespace test_constructor;
HybridGaussianFactor fromFactors({X(1), X(2)}, m1, {f10, f11});
std::vector<GaussianFactorValuePair> pairs{{f10, 0.0}, {f11, 0.0}};
@ -84,7 +84,7 @@ TEST(HybridGaussianFactor, ConstructorVariants) {
/* ************************************************************************* */
// "Add" two hybrid factors together.
TEST(HybridGaussianFactor, Sum) {
using namespace testA;
using namespace test_constructor;
DiscreteKey m2(2, 3);
auto A3 = Matrix::Zero(2, 3);
@ -121,7 +121,7 @@ TEST(HybridGaussianFactor, Sum) {
/* ************************************************************************* */
TEST(HybridGaussianFactor, Printing) {
using namespace testA;
using namespace test_constructor;
HybridGaussianFactor hybridFactor({X(1), X(2)}, m1, {f10, f11});
std::string expected =