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Hybrid Incremental Inference #1267

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merged 4 commits into from
Aug 10, 2022
Merged

Hybrid Incremental Inference #1267

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588f56e
HybridGaussianISAM unit tests
varunagrawal Aug 8, 2022
60c88e3
fix print tests
varunagrawal Aug 10, 2022
4ea897c
cleaner printing
varunagrawal Aug 10, 2022
fbceda3
got some more tests working
varunagrawal Aug 10, 2022
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10 changes: 7 additions & 3 deletions gtsam/hybrid/HybridFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,11 +95,15 @@ void HybridFactor::print(const std::string &s,
if (c < continuousKeys_.size() - 1) {
std::cout << " ";
} else {
std::cout << (discreteKeys_.size() > 0 ? ";" : "");
std::cout << (discreteKeys_.size() > 0 ? "; " : "");
}
}
for (auto &&discreteKey : discreteKeys_) {
std::cout << " " << formatter(discreteKey.first);
for (size_t d = 0; d < discreteKeys_.size(); d++) {
std::cout << formatter(discreteKeys_.at(d).first);
if (d < discreteKeys_.size() - 1) {
std::cout << " ";
}

}
std::cout << "]";
}
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4 changes: 2 additions & 2 deletions gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
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Expand Up @@ -74,7 +74,7 @@ TEST(GaussianMixtureFactor, Sum) {
// Check that number of keys is 3
EXPECT_LONGS_EQUAL(3, mixtureFactorA.keys().size());

// Check that number of discrete keys is 1 // TODO(Frank): should not exist?
// Check that number of discrete keys is 1
EXPECT_LONGS_EQUAL(1, mixtureFactorA.discreteKeys().size());

// Create sum of two mixture factors: it will be a decision tree now on both
Expand Down Expand Up @@ -104,7 +104,7 @@ TEST(GaussianMixtureFactor, Printing) {
GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);

std::string expected =
R"(Hybrid x1 x2; 1 ]{
R"(Hybrid [x1 x2; 1]{
Choice(1)
0 Leaf :
A[x1] = [
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