diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp index db0dc73c3..8b5bb41ac 100644 --- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp +++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp @@ -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());