From 4cb03b303b8df9b4ca38d1791c32bce9ae700347 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 1 Jan 2023 11:43:52 -0500
Subject: [PATCH] Fix SumFrontals test

---
 gtsam/hybrid/tests/TinyHybridExample.h               |  8 ++++----
 gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp | 10 +++++++---
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/tests/TinyHybridExample.h b/gtsam/hybrid/tests/TinyHybridExample.h
index 1663708f2..a33a45179 100644
--- a/gtsam/hybrid/tests/TinyHybridExample.h
+++ b/gtsam/hybrid/tests/TinyHybridExample.h
@@ -35,7 +35,7 @@ const DiscreteKey mode{M(0), 2};
  * Create a tiny two variable hybrid model which represents
  * the generative probability P(z, x, n) = P(z | x, n)P(x)P(n).
  */
-static HybridBayesNet createHybridBayesNet(int num_measurements = 1) {
+HybridBayesNet createHybridBayesNet(int num_measurements = 1) {
   // Create hybrid Bayes net.
   HybridBayesNet bayesNet;
 
@@ -60,8 +60,8 @@ static HybridBayesNet createHybridBayesNet(int num_measurements = 1) {
   return bayesNet;
 }
 
-static HybridGaussianFactorGraph convertBayesNet(const HybridBayesNet& bayesNet,
-                                                 const HybridValues& sample) {
+HybridGaussianFactorGraph convertBayesNet(const HybridBayesNet& bayesNet,
+                                          const HybridValues& sample) {
   HybridGaussianFactorGraph fg;
   int num_measurements = bayesNet.size() - 2;
   for (int i = 0; i < num_measurements; i++) {
@@ -74,7 +74,7 @@ static HybridGaussianFactorGraph convertBayesNet(const HybridBayesNet& bayesNet,
   return fg;
 }
 
-static HybridGaussianFactorGraph createHybridGaussianFactorGraph(
+HybridGaussianFactorGraph createHybridGaussianFactorGraph(
     int num_measurements = 1) {
   auto bayesNet = createHybridBayesNet(num_measurements);
   auto sample = bayesNet.sample();
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 60a88d7f1..2de28b008 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -636,10 +636,14 @@ TEST(HybridGaussianFactorGraph, SumFrontals) {
   // Expected decision tree with two factor graphs:
   // f(x0;mode=0)P(x0) and f(x0;mode=1)P(x0)
   GaussianMixture::Sum expected{
-      M(0), GaussianFactorGraph(std::vector<GF>{mixture->factor(d0), prior}),
-      GaussianFactorGraph(std::vector<GF>{mixture->factor(d1), prior})};
+      M(0),
+      {GaussianFactorGraph(std::vector<GF>{mixture->factor(d0), prior}),
+       -0.225791 /* regression */},
+      {GaussianFactorGraph(std::vector<GF>{mixture->factor(d1), prior}),
+       -2.01755 /* regression */}};
 
-  EXPECT(assert_equal(expected(d0), sum(d0)));
+  EXPECT(assert_equal(expected(d0), sum(d0), 1e-5));
+  EXPECT(assert_equal(expected(d1), sum(d1), 1e-5));
 }
 
 /* ************************************************************************* */