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prune nonlinear by calling method rather than on the bayestree

release/4.3a0
Varun Agrawal 2023-01-02 10:04:50 -05:00
parent e3a63aa77c
commit 40a67b517c
1 changed files with 2 additions and 4 deletions
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6
gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
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@ -357,10 +357,9 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
// Run update with pruning
size_t maxComponents = 5;
incrementalHybrid.update(graph1, initial);
incrementalHybrid.prune(maxComponents);
HybridGaussianISAM bayesTree = incrementalHybrid.bayesTree();
bayesTree.prune(maxComponents);
// Check if we have a bayes tree with 4 hybrid nodes,
// each with 2, 4, 8, and 5 (pruned) leaves respetively.
EXPECT_LONGS_EQUAL(4, bayesTree.size());
@ -382,10 +381,9 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
// Run update with pruning a second time.
incrementalHybrid.update(graph2, initial);
incrementalHybrid.prune(maxComponents);
bayesTree = incrementalHybrid.bayesTree();
bayesTree.prune(maxComponents);
// Check if we have a bayes tree with pruned hybrid nodes,
// with 5 (pruned) leaves.
CHECK_EQUAL(5, bayesTree.size());