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Various fixes for Hybrid #1369

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merged 6 commits into from
Jan 4, 2023
Merged

Various fixes for Hybrid #1369

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bb31956
enable previously failing test, now works!!
varunagrawal Jan 4, 2023
ed16c33
add check in GaussianMixtureFactor::likelihood
varunagrawal Jan 4, 2023
34daecd
remove deferredFactors
varunagrawal Jan 4, 2023
7dd4bc9
implement dim() for MixtureFactor
varunagrawal Jan 4, 2023
b16480b
simplify code
varunagrawal Jan 4, 2023
25fd618
rename getAssignment to assignment, fix printing
varunagrawal Jan 4, 2023
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enable previously failing test, now works!!
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@varunagrawal
varunagrawal committed Jan 4, 2023
commit bb31956a96c583cc5386c0e4cd595c13471569b3
5 changes: 1 addition & 4 deletions gtsam/hybrid/tests/testHybridEstimation.cpp
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Expand Up @@ -114,7 +114,7 @@ TEST(HybridEstimation, Full) {

/****************************************************************************/
// Test approximate inference with an additional pruning step.
TEST_DISABLED(HybridEstimation, Incremental) {
TEST(HybridEstimation, Incremental) {
size_t K = 15;
std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6,
7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
Expand Down Expand Up @@ -151,9 +151,6 @@ TEST_DISABLED(HybridEstimation, Incremental) {
graph.resize(0);
}

/*TODO(Varun) Gives degenerate result due to probability underflow.
Need to normalize probabilities.
*/
HybridValues delta = smoother.hybridBayesNet().optimize();

Values result = initial.retract(delta.continuous());
Expand Down