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fix tests

release/4.3a0
Varun Agrawal 2025-01-07 15:21:24 -05:00
parent 4fc2387a63
commit 3ecc232c0a
2 changed files with 19 additions and 20 deletions
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35
gtsam/hybrid/tests/testHybridMotionModel.cpp
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@ -21,8 +21,8 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h> #include <gtsam/base/TestableAssertions.h>
#include <gtsam/discrete/DiscreteConditional.h> #include <gtsam/discrete/DiscreteConditional.h>
#include <gtsam/discrete/TableDistribution.h>
#include <gtsam/discrete/DiscreteValues.h> #include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/discrete/TableDistribution.h>
#include <gtsam/hybrid/HybridBayesNet.h> #include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianConditional.h> #include <gtsam/hybrid/HybridGaussianConditional.h>
#include <gtsam/hybrid/HybridGaussianFactor.h> #include <gtsam/hybrid/HybridGaussianFactor.h>
@ -145,8 +145,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel) {
// Importance sampling run with 100k samples gives 50.051/49.949 // Importance sampling run with 100k samples gives 50.051/49.949
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "50 50"); TableDistribution expected(m1, "50 50");
EXPECT(assert_equal(expected, EXPECT(
*(bn->at(2)->asDiscrete<TableDistribution>()))); assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>())));
} }
{ {
@ -163,8 +163,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel) {
// Values taken from an importance sampling run with 100k samples: // Values taken from an importance sampling run with 100k samples:
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "44.3854 55.6146"); TableDistribution expected(m1, "44.3854 55.6146");
EXPECT(assert_equal( EXPECT(assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>()),
expected, *(bn->at(2)->asDiscrete<TableDistribution>()), 0.02)); 0.02));
} }
} }
@ -253,8 +253,7 @@ TEST(HybridGaussianFactorGraph, TwoStateModel2) {
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "48.3158 51.6842"); TableDistribution expected(m1, "48.3158 51.6842");
EXPECT(assert_equal( EXPECT(assert_equal(
expected, *(eliminated->at(2)->asDiscrete<TableDistribution>()), expected, *(eliminated->at(2)->asDiscrete<TableDistribution>()), 0.02));
0.02));
} }
{ {
@ -269,8 +268,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel2) {
// Values taken from an importance sampling run with 100k samples: // Values taken from an importance sampling run with 100k samples:
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "55.396 44.604"); TableDistribution expected(m1, "55.396 44.604");
EXPECT(assert_equal( EXPECT(assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>()),
expected, *(bn->at(2)->asDiscrete<TableDistribution>()), 0.02)); 0.02));
} }
} }
@ -347,8 +346,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel3) {
// Values taken from an importance sampling run with 100k samples: // Values taken from an importance sampling run with 100k samples:
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "51.7762 48.2238"); TableDistribution expected(m1, "51.7762 48.2238");
EXPECT(assert_equal( EXPECT(assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>()),
expected, *(bn->at(2)->asDiscrete<TableDistribution>()), 0.02)); 0.02));
} }
{ {
@ -363,8 +362,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel3) {
// Values taken from an importance sampling run with 100k samples: // Values taken from an importance sampling run with 100k samples:
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "49.0762 50.9238"); TableDistribution expected(m1, "49.0762 50.9238");
EXPECT(assert_equal( EXPECT(assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>()),
expected, *(bn->at(2)->asDiscrete<TableDistribution>()), 0.05)); 0.05));
} }
} }
@ -390,8 +389,8 @@ TEST(HybridGaussianFactorGraph, TwoStateModel4) {
// Values taken from an importance sampling run with 100k samples: // Values taken from an importance sampling run with 100k samples:
// approximateDiscreteMarginal(hbn, hybridMotionModel, given); // approximateDiscreteMarginal(hbn, hybridMotionModel, given);
TableDistribution expected(m1, "8.91527 91.0847"); TableDistribution expected(m1, "8.91527 91.0847");
EXPECT(assert_equal( EXPECT(assert_equal(expected, *(bn->at(2)->asDiscrete<TableDistribution>()),
expected, *(bn->at(2)->asDiscrete<TableDistribution>()), 0.01)); 0.01));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -496,7 +495,7 @@ TEST(HybridGaussianFactorGraph, DifferentMeans) {
VectorValues{{X(0), Vector1(0.0)}, {X(1), Vector1(0.25)}}, VectorValues{{X(0), Vector1(0.0)}, {X(1), Vector1(0.25)}},
DiscreteValues{{M(1), 1}}); DiscreteValues{{M(1), 1}});
// EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
{ {
DiscreteValues dv{{M(1), 0}}; DiscreteValues dv{{M(1), 0}};
@ -546,8 +545,8 @@ TEST(HybridGaussianFactorGraph, DifferentCovariances) {
DiscreteValues dv0{{M(1), 0}}; DiscreteValues dv0{{M(1), 0}};
DiscreteValues dv1{{M(1), 1}}; DiscreteValues dv1{{M(1), 1}};
DiscreteConditional expected_m1(m1, "0.5/0.5"); TableDistribution expected_m1(m1, "0.5 0.5");
DiscreteConditional actual_m1 = *(hbn->at(2)->asDiscrete()); TableDistribution actual_m1 = *(hbn->at(2)->asDiscrete<TableDistribution>());
EXPECT(assert_equal(expected_m1, actual_m1)); EXPECT(assert_equal(expected_m1, actual_m1));
} }

4
gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
View File

@ -1063,8 +1063,8 @@ TEST(HybridNonlinearFactorGraph, DifferentCovariances) {
DiscreteValues dv0{{M(1), 0}}; DiscreteValues dv0{{M(1), 0}};
DiscreteValues dv1{{M(1), 1}}; DiscreteValues dv1{{M(1), 1}};
DiscreteConditional expected_m1(m1, "0.5/0.5"); TableDistribution expected_m1(m1, "0.5 0.5");
DiscreteConditional actual_m1 = *(hbn->at(2)->asDiscrete()); TableDistribution actual_m1 = *(hbn->at(2)->asDiscrete<TableDistribution>());
EXPECT(assert_equal(expected_m1, actual_m1)); EXPECT(assert_equal(expected_m1, actual_m1));
} }