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Update SE2Products test to AMP 15 #1949

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Merged
Affie merged 1 commit into from
Jul 17, 2026
Merged

Update SE2Products test to AMP 15 #1949

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11 changes: 5 additions & 6 deletions IncrementalInference/test/testSE2Products.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -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

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