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Fixed some stragglers

release/4.3a0
Frank Dellaert 2024-09-21 16:01:19 -07:00
parent 035f2849d0
commit 5efac18341
2 changed files with 4 additions and 9 deletions
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8
gtsam/hybrid/tests/testHybridFactorGraph.cpp
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@ -55,7 +55,7 @@ TEST(HybridFactorGraph, Keys) {
std::vector<GaussianFactor::shared_ptr> components{
std::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
std::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())};
hfg.add(HybridGaussianFactor({X(1)}, {m1}, components));
hfg.add(HybridGaussianFactor({X(1)}, m1, components));
KeySet expected_continuous{X(0), X(1)};
EXPECT(
@ -65,11 +65,9 @@ TEST(HybridFactorGraph, Keys) {
EXPECT(assert_container_equality(expected_discrete, hfg.discreteKeySet()));
}
/* *************************************************************************
*/
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* *************************************************************************
*/
/* ************************************************************************* */

5
gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
View File

@ -232,9 +232,6 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
{
std::vector<GaussianFactorValuePair> factors = {
{std::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1), 0.0},
{std::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()), 0.0}};
hfg.add(HybridGaussianFactor({X(0)}, {M(0), 2}, two::components(X(0))));
hfg.add(HybridGaussianFactor({X(2)}, {M(1), 2}, two::components(X(2))));
}
@ -259,7 +256,7 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
EXPECT_LONGS_EQUAL(0, remaining->size());
/*
(Fan) Explanation: the Junction tree will need to reeliminate to get to the
(Fan) Explanation: the Junction tree will need to re-eliminate to get to the
marginal on X(1), which is not possible because it involves eliminating
discrete before continuous. The solution to this, however, is in Murphy02.
TLDR is that this is 1. expensive and 2. inexact. nevertheless it is doable.