35 using namespace gtsam;
40 using namespace serializationTestHelpers;
56 "gtsam_HybridGaussianFactor_Factors");
58 "gtsam_HybridGaussianFactor_Factors_Leaf");
60 "gtsam_HybridGaussianFactor_Factors_Choice");
63 "gtsam_HybridGaussianConditional");
65 "gtsam_HybridGaussianConditional_Conditionals");
67 "gtsam_HybridGaussianConditional_Conditionals_Leaf");
69 "gtsam_HybridGaussianConditional_Conditionals_Choice");
80 auto A = Matrix::Zero(2, 1);
81 auto b0 = Matrix::Zero(2, 1);
82 auto b1 = Matrix::Ones(2, 1);
83 auto f0 = std::make_shared<JacobianFactor>(
X(0),
A, b0);
84 auto f1 = std::make_shared<JacobianFactor>(
X(0),
A,
b1);
85 std::vector<GaussianFactor::shared_ptr>
factors{
f0,
f1};
89 EXPECT(equalsObj<HybridGaussianFactor>(factor));
90 EXPECT(equalsXML<HybridGaussianFactor>(factor));
91 EXPECT(equalsBinary<HybridGaussianFactor>(factor));
99 const auto conditional = std::make_shared<GaussianConditional>(
100 GaussianConditional::FromMeanAndStddev(
Z(0),
I,
X(0),
Vector1(0), 0.5));
103 EXPECT(equalsObj<HybridConditional>(
hc));
104 EXPECT(equalsXML<HybridConditional>(
hc));
105 EXPECT(equalsBinary<HybridConditional>(
hc));
113 const auto conditional0 = std::make_shared<GaussianConditional>(
114 GaussianConditional::FromMeanAndStddev(
Z(0),
I,
X(0),
Vector1(0), 0.5));
115 const auto conditional1 = std::make_shared<GaussianConditional>(
116 GaussianConditional::FromMeanAndStddev(
Z(0),
I,
X(0),
Vector1(0), 3));
119 EXPECT(equalsObj<HybridGaussianConditional>(gm));
120 EXPECT(equalsXML<HybridGaussianConditional>(gm));
121 EXPECT(equalsBinary<HybridGaussianConditional>(gm));
130 EXPECT(equalsObj<HybridBayesNet>(hbn));
131 EXPECT(equalsXML<HybridBayesNet>(hbn));
132 EXPECT(equalsBinary<HybridBayesNet>(hbn));
141 EXPECT(equalsObj<HybridBayesTree>(hbt));
142 EXPECT(equalsXML<HybridBayesTree>(hbt));
143 EXPECT(equalsBinary<HybridBayesTree>(hbt));