Add various tests for Hybrid #1220
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ProfFan
approved these changes
Jun 10, 2022
| using symbol_shorthand::X; | ||
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| /* ************************************************************************* */ | ||
| TEST(GaussianConditional, Equals) { |
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document the equations here (2 gaussians)
| TestResult tr; | ||
| return TestRegistry::runAllTests(tr); | ||
| } | ||
| /* ************************************************************************* */ |
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| // TODO(Frank): why specify keys at all? And: keys in factor should be *all* | ||
| // keys, deviating from Kevin's scheme. Should we index DT on DiscreteKey? | ||
| // Design review! |
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the DiscreteKey is probably a suboptimal design, since that killed the consistency of API. I would argue that maybe in GTSAM 5 we should have the discrete values hold their cardinalities...
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Can you write up an issue for this? We're definitely going to forget in the far future. 😅
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I pulled all the tests from the previous hybrid mechanism and updated them so they work.