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restore DERelative tests, drop zero init #1777

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Sep 19, 2023
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restore DERelative tests, drop zero init #1777

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25 changes: 16 additions & 9 deletions test/testDERelative.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -390,9 +390,9 @@ pts_ = approxConv(fg, :x0x1f1, :x0)
##

tfg = initfg()
for s in ls(fg)
initVariable!(fg, s, [0.1.*zeros(2) for _ in 1:100])
end
# for s in ls(fg)
# initVariable!(fg, s, [0.1.*zeros(2) for _ in 1:100])
# end

pts = approxConv(fg, :x0f1, :x7, setPPE=true, tfg=tfg)
initVariable!(tfg, :x7, pts)
Expand All @@ -413,16 +413,23 @@ initVariable!(tfg, :x7, pts)
@error "Disabling useMsgLikelihood for DERelative test, follow fix on #1010 as rough guide"
getSolverParams(fg).useMsgLikelihoods = false

solveTree!(fg);
smtasks = Task[]
tree = solveTree!(fg; recordcliqs=ls(fg), smtasks);

hists = fetchCliqHistoryAll!(smtasks)
printCSMHistoryLogical(hists)

_, csmc = repeatCSMStep!(hists[2], 6; duplicate=true);


##

# solveTree has weird problem in breaking correct init and inserting zeros???
@test_broken isapprox( getPPESuggested(fg, :x0), x0_val_ref; atol=0.2)
@test_broken isapprox( getPPESuggested(fg, :x1), x1_val_ref; atol=0.2)
@test_broken isapprox( getPPESuggested(fg, :x2), x2_val_ref; atol=0.2)
@test_broken isapprox( getPPESuggested(fg, :x3), x3_val_ref; atol=0.2)
@test_broken isapprox( getPPESuggested(fg, :x4), x4_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x0), x0_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x1), x1_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x2), x2_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x3), x3_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x4), x4_val_ref; atol=0.2)

@test isapprox( getPPESuggested(fg, :x5), x5_val_ref; atol=0.2)
@test isapprox( getPPESuggested(fg, :x6), x6_val_ref; atol=0.2)
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