From cf47902c2470be2455a8c1044a7dd59b6dca96fd Mon Sep 17 00:00:00 2001 From: Johannes Terblanche Date: Fri, 17 Jul 2026 10:34:43 +0200 Subject: [PATCH] Update SE2Products test to AMP 15 --- IncrementalInference/test/testSE2Products.jl | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/IncrementalInference/test/testSE2Products.jl b/IncrementalInference/test/testSE2Products.jl index 9e316b93..127ed54a 100644 --- a/IncrementalInference/test/testSE2Products.jl +++ b/IncrementalInference/test/testSE2Products.jl @@ -88,8 +88,8 @@ function prod_by_fg(statekind, points, covars) damping_term_min = 1e-3, ) - μ = DFG.refMeans(getState(fg, :x0, :parametric))[1] - Σ_μ = DFG.refCovariances(getState(fg, :x0, :parametric))[1] + μ = getBelief(fg, :x0, :parametric).points[1] + Σ_μ = getBelief(fg, :x0, :parametric).trailing_forms[1] return μ, Σ_μ end @@ -282,14 +282,13 @@ end @testset "Pose2 (decoupled product manifold)" begin G = getManifold(Pose2) μ_fg, Σ_fg = prod_by_fg(Pose2, [p, q], [Σp, Σq]) - #TODO needs AMP v0.15.7 - # μ_amp, Σ_amp = prod_by_amp(Pose2, [p, q], [Σp, Σq]) + μ_amp, Σ_amp = prod_by_amp(Pose2, [p, q], [Σp, Σq]) μ_bf, Σ_bf, _ = prod_by_bruteforce(Pose2, [p, q], [Σp, Σq]; xs, ys, θs) @test isapprox(G, μ_fg, μ_bf; atol = 5e-2) @test isapprox(Σ_fg, Σ_bf; atol = 5e-2) - @test_broken isapprox(G, μ_amp, μ_bf; atol = 5e-2) - @test_broken isapprox(Σ_amp, Σ_bf; atol = 5e-2) + @test isapprox(G, μ_amp, μ_bf; atol = 5e-2) + @test isapprox(Σ_amp, Σ_bf; atol = 5e-2) end end