35 using namespace gtsam;
40 using namespace serializationTestHelpers;
56 "gtsam_GaussianMixtureFactor_Factors");
58 "gtsam_GaussianMixtureFactor_Factors_Leaf");
60 "gtsam_GaussianMixtureFactor_Factors_Choice");
64 "gtsam_GaussianMixture_Conditionals");
66 "gtsam_GaussianMixture_Conditionals_Leaf");
68 "gtsam_GaussianMixture_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<GaussianMixtureFactor>(factor));
90 EXPECT(equalsXML<GaussianMixtureFactor>(factor));
91 EXPECT(equalsBinary<GaussianMixtureFactor>(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));
118 {conditional0, conditional1});
120 EXPECT(equalsObj<GaussianMixture>(gm));
121 EXPECT(equalsXML<GaussianMixture>(gm));
122 EXPECT(equalsBinary<GaussianMixture>(gm));
131 EXPECT(equalsObj<HybridBayesNet>(hbn));
132 EXPECT(equalsXML<HybridBayesNet>(hbn));
133 EXPECT(equalsBinary<HybridBayesNet>(hbn));
142 EXPECT(equalsObj<HybridBayesTree>(hbt));
143 EXPECT(equalsXML<HybridBayesTree>(hbt));
144 EXPECT(equalsBinary<HybridBayesTree>(hbt));