diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp index e53e249924..8276264ae0 100644 --- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp @@ -348,7 +348,8 @@ TEST(HybridGaussianFactorGraph, Switching) { // GTSAM_PRINT(*hfg); // GTSAM_PRINT(ordering_full); - const auto [hbt, remaining] = hfg->eliminatePartialMultifrontal(ordering_full); + const auto [hbt, remaining] = + hfg->eliminatePartialMultifrontal(ordering_full); // 12 cliques in the bayes tree and 0 remaining variables to eliminate. EXPECT_LONGS_EQUAL(12, hbt->size()); @@ -401,7 +402,8 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) { } auto ordering_full = Ordering(ordering); - const auto [hbt, remaining] = hfg->eliminatePartialMultifrontal(ordering_full); + const auto [hbt, remaining] = + hfg->eliminatePartialMultifrontal(ordering_full); auto new_fg = makeSwitchingChain(12); auto isam = HybridGaussianISAM(*hbt); @@ -470,7 +472,8 @@ TEST(HybridGaussianFactorGraph, SwitchingTwoVar) { ordering_partial.emplace_back(X(i)); ordering_partial.emplace_back(Y(i)); } - const auto [hbn, remaining] = hfg->eliminatePartialSequential(ordering_partial); + const auto [hbn, remaining] = + hfg->eliminatePartialSequential(ordering_partial); EXPECT_LONGS_EQUAL(14, hbn->size()); EXPECT_LONGS_EQUAL(11, remaining->size()); @@ -747,9 +750,9 @@ TEST(HybridGaussianFactorGraph, EliminateTiny1Swapped) { // Create Gaussian mixture on X(0). // regression, but mean checked to be 5.0 in both cases: - const auto conditional0 = boost::make_shared( + const auto conditional0 = std::make_shared( X(0), Vector1(10.1379), I_1x1 * 2.02759), - conditional1 = boost::make_shared( + conditional1 = std::make_shared( X(0), Vector1(14.1421), I_1x1 * 2.82843); expectedBayesNet.emplace_back( new GaussianMixture({X(0)}, {}, {mode}, {conditional0, conditional1}));