From 5db9dd4081c3b2d77cf7e6333e87217834788c43 Mon Sep 17 00:00:00 2001 From: indelman Date: Mon, 10 Feb 2014 08:53:30 -0500 Subject: [PATCH] Removed .finished() from testGaussianBayesTreeUnordered.cpp --- .../tests/testGaussianBayesTreeUnordered.cpp | 56 +++++++++---------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/gtsam/linear/tests/testGaussianBayesTreeUnordered.cpp b/gtsam/linear/tests/testGaussianBayesTreeUnordered.cpp index ec7c01f88..8f37cac0c 100644 --- a/gtsam/linear/tests/testGaussianBayesTreeUnordered.cpp +++ b/gtsam/linear/tests/testGaussianBayesTreeUnordered.cpp @@ -114,39 +114,39 @@ TEST(GaussianBayesTree, complicatedMarginal) { // Create the conditionals to go in the BayesTree GaussianBayesTree bt; bt.insertRoot( - MakeClique(GaussianConditional(pair_list_of (11, (Matrix(3,1) << 0.0971, 0, 0).finished()) - (12, (Matrix(3,2) << 0.3171, 0.4387, 0.9502, 0.3816, 0, 0.7655).finished()), - 2, (Vector(3) << 0.2638, 0.1455, 0.1361).finished()), list_of - (MakeClique(GaussianConditional(pair_list_of (9, (Matrix(3,1) << 0.7952, 0, 0).finished()) - (10, (Matrix(3,2) << 0.4456, 0.7547, 0.6463, 0.2760, 0, 0.6797).finished()) - (11, (Matrix(3,1) << 0.6551, 0.1626, 0.1190).finished()) - (12, (Matrix(3,2) << 0.4984, 0.5853, 0.9597, 0.2238, 0.3404, 0.7513).finished()), - 2, (Vector(3) << 0.4314, 0.9106, 0.1818).finished()))) - (MakeClique(GaussianConditional(pair_list_of (7, (Matrix(3,1) << 0.2551, 0, 0).finished()) - (8, (Matrix(3,2) << 0.8909, 0.1386, 0.9593, 0.1493, 0, 0.2575).finished()) - (11, (Matrix(3,1) << 0.8407, 0.2543, 0.8143).finished()), - 2, (Vector(3) << 0.3998, 0.2599, 0.8001).finished()), list_of - (MakeClique(GaussianConditional(pair_list_of (5, (Matrix(3,1) << 0.2435, 0, 0).finished()) - (6, (Matrix(3,2) << 0.4733, 0.1966, 0.3517, 0.2511, 0.8308, 0.0).finished()) + MakeClique(GaussianConditional(pair_list_of (11, (Matrix(3,1) << 0.0971, 0, 0)) + (12, (Matrix(3,2) << 0.3171, 0.4387, 0.9502, 0.3816, 0, 0.7655)), + 2, (Vector(3) << 0.2638, 0.1455, 0.1361)), list_of + (MakeClique(GaussianConditional(pair_list_of (9, (Matrix(3,1) << 0.7952, 0, 0)) + (10, (Matrix(3,2) << 0.4456, 0.7547, 0.6463, 0.2760, 0, 0.6797)) + (11, (Matrix(3,1) << 0.6551, 0.1626, 0.1190)) + (12, (Matrix(3,2) << 0.4984, 0.5853, 0.9597, 0.2238, 0.3404, 0.7513)), + 2, (Vector(3) << 0.4314, 0.9106, 0.1818)))) + (MakeClique(GaussianConditional(pair_list_of (7, (Matrix(3,1) << 0.2551, 0, 0)) + (8, (Matrix(3,2) << 0.8909, 0.1386, 0.9593, 0.1493, 0, 0.2575)) + (11, (Matrix(3,1) << 0.8407, 0.2543, 0.8143)), + 2, (Vector(3) << 0.3998, 0.2599, 0.8001)), list_of + (MakeClique(GaussianConditional(pair_list_of (5, (Matrix(3,1) << 0.2435, 0, 0)) + (6, (Matrix(3,2) << 0.4733, 0.1966, 0.3517, 0.2511, 0.8308, 0.0)) // NOTE the non-upper-triangular form // here since this test was written when we had column permutations // from LDL. The code still works currently (does not enfore // upper-triangularity in this case) but this test will need to be // redone if this stops working in the future - (7, (Matrix(3,1) << 0.5853, 0.5497, 0.9172).finished()) - (8, (Matrix(3,2) << 0.2858, 0.3804, 0.7572, 0.5678, 0.7537, 0.0759).finished()), - 2, (Vector(3) << 0.8173, 0.8687, 0.0844).finished()), list_of - (MakeClique(GaussianConditional(pair_list_of (3, (Matrix(3,1) << 0.0540, 0, 0).finished()) - (4, (Matrix(3,2) << 0.9340, 0.4694, 0.1299, 0.0119, 0, 0.3371).finished()) - (6, (Matrix(3,2) << 0.1622, 0.5285, 0.7943, 0.1656, 0.3112, 0.6020).finished()), - 2, (Vector(3) << 0.9619, 0.0046, 0.7749).finished()))) - (MakeClique(GaussianConditional(pair_list_of (1, (Matrix(3,1) << 0.2630, 0, 0).finished()) - (2, (Matrix(3,2) << 0.7482, 0.2290, 0.4505, 0.9133, 0, 0.1524).finished()) - (5, (Matrix(3,1) << 0.8258, 0.5383, 0.9961).finished()), - 2, (Vector(3) << 0.0782, 0.4427, 0.1067).finished()))))))))); + (7, (Matrix(3,1) << 0.5853, 0.5497, 0.9172)) + (8, (Matrix(3,2) << 0.2858, 0.3804, 0.7572, 0.5678, 0.7537, 0.0759)), + 2, (Vector(3) << 0.8173, 0.8687, 0.0844)), list_of + (MakeClique(GaussianConditional(pair_list_of (3, (Matrix(3,1) << 0.0540, 0, 0)) + (4, (Matrix(3,2) << 0.9340, 0.4694, 0.1299, 0.0119, 0, 0.3371)) + (6, (Matrix(3,2) << 0.1622, 0.5285, 0.7943, 0.1656, 0.3112, 0.6020)), + 2, (Vector(3) << 0.9619, 0.0046, 0.7749)))) + (MakeClique(GaussianConditional(pair_list_of (1, (Matrix(3,1) << 0.2630, 0, 0)) + (2, (Matrix(3,2) << 0.7482, 0.2290, 0.4505, 0.9133, 0, 0.1524)) + (5, (Matrix(3,1) << 0.8258, 0.5383, 0.9961)), + 2, (Vector(3) << 0.0782, 0.4427, 0.1067)))))))))); // Marginal on 5 - Matrix expectedCov = (Matrix(1,1) << 236.5166).finished(); + Matrix expectedCov = (Matrix(1,1) << 236.5166); //GaussianConditional actualJacobianChol = *bt.marginalFactor(5, EliminateCholesky); GaussianConditional actualJacobianQR = *bt.marginalFactor(5, EliminateQR); //EXPECT(assert_equal(actualJacobianChol, actualJacobianQR)); // Check that Chol and QR obtained marginals are the same @@ -160,10 +160,10 @@ TEST(GaussianBayesTree, complicatedMarginal) { // Marginal on 6 // expectedCov = (Matrix(2,2) << // 8471.2, 2886.2, -// 2886.2, 1015.8).finished(); +// 2886.2, 1015.8); expectedCov = (Matrix(2,2) << 1015.8, 2886.2, - 2886.2, 8471.2).finished(); + 2886.2, 8471.2); //actualJacobianChol = bt.marginalFactor(6, EliminateCholesky); actualJacobianQR = *bt.marginalFactor(6, EliminateQR); //EXPECT(assert_equal(actualJacobianChol, actualJacobianQR)); // Check that Chol and QR obtained marginals are the same