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Fixed conversion arguments

release/4.3a0
Frank Dellaert 2023-01-02 12:47:30 -05:00
parent 021ee1a5d9
commit fbfc20b88d
1 changed files with 6 additions and 6 deletions
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12
gtsam/hybrid/tests/TinyHybridExample.h
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@ -61,12 +61,12 @@ HybridBayesNet createHybridBayesNet(int num_measurements = 1) {
}
HybridGaussianFactorGraph convertBayesNet(const HybridBayesNet& bayesNet,
const HybridValues& values) {
const VectorValues& measurements) {
HybridGaussianFactorGraph fg;
int num_measurements = bayesNet.size() - 2;
for (int i = 0; i < num_measurements; i++) {
auto conditional = bayesNet.atMixture(i);
auto factor = conditional->likelihood(values.continuousSubset({Z(i)}));
auto factor = conditional->likelihood({{Z(i), measurements.at(Z(i))}});
fg.push_back(factor);
}
fg.push_back(bayesNet.atGaussian(num_measurements));
@ -79,14 +79,14 @@ HybridGaussianFactorGraph createHybridGaussianFactorGraph(
auto bayesNet = createHybridBayesNet(num_measurements);
if (deterministic) {
// Create a deterministic set of measurements:
HybridValues values{{}, {{M(0), 0}}};
VectorValues measurements;
for (int i = 0; i < num_measurements; i++) {
values.insert(Z(i), Vector1(5.0 + 0.1 * i));
measurements.insert(Z(i), Vector1(5.0 + 0.1 * i));
}
return convertBayesNet(bayesNet, values);
return convertBayesNet(bayesNet, measurements);
} else {
// Create a random set of measurements:
return convertBayesNet(bayesNet, bayesNet.sample());
return convertBayesNet(bayesNet, bayesNet.sample().continuous());
}
}