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specify ordering to match that of HybridGaussianISAM

release/4.3a0
Varun Agrawal 2023-01-06 12:18:45 -05:00
parent 2f6d541656
commit 3f201f3f4b
1 changed files with 3 additions and 1 deletions
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4
gtsam/hybrid/tests/testHybridBayesTree.cpp
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@ -202,7 +202,9 @@ TEST(HybridBayesTree, Choose) {
GaussianBayesTree gbt = isam.choose(assignment);
auto bayesTree = s.linearizedFactorGraph.eliminateMultifrontal();
// Specify ordering so it matches that of HybridGaussianISAM.
Ordering ordering(KeyVector{X(0), X(1), X(2), X(3), M(0), M(1), M(2)});
auto bayesTree = s.linearizedFactorGraph.eliminateMultifrontal(ordering);
auto expected_gbt = bayesTree->choose(assignment);