diff --git a/cython/tests.py b/cython/tests.py deleted file mode 100644 index 9e538c625..000000000 --- a/cython/tests.py +++ /dev/null @@ -1,71 +0,0 @@ -from gtsam import * -import numpy as np - -r = Rot3() -print(r) -print(r.pitch()) -r2 = Rot3() -r3 = r.compose(r2) -print("r3 pitch:", r3.pitch()) - -v = np.array([.1, .1, .1]) -print("v = ", v) -r4 = r3.retract(v) -print("r4 pitch:", r4.pitch()) -r4.print_(b'r4: ') -r3.print_(b"r3: ") - -v = r3.localCoordinates(r4) -print("localCoordinates:", v) - -Rmat = np.array([ - [0.990074, -0.0942928, 0.104218], - [0.104218, 0.990074, -0.0942928], - [-0.0942928, 0.104218, 0.990074] - ]) -r5 = Rot3(R=Rmat) -r5.print_(b"r5: ") - -l = Rot3.Logmap(r5) -print("l = ", l) - - -noise = noiseModel_Gaussian.Covariance(Rmat) -noise.print_(b"noise:") - -D = np.array([1.,2.,3.]) -diag = noiseModel_Diagonal.Variances(D) -print("diag:", diag) -diag.print_(b"diag:") -print("diag R:", diag.R()) - -p = Point3() -p.print_("p:") -factor = BetweenFactorPoint3(1,2,p, noise) -factor.print_(b"factor:") - -vv = VectorValues() -vv.print_(b"vv:") -vv.insert(1, np.array([1.,2.,3.])) -vv.insert(2, np.array([3.,4.])) -vv.insert(3, np.array([5.,6.,7.,8.])) -vv.print_(b"vv:") - -vv2 = VectorValues(vv) -vv2.insert(4, np.array([4.,2.,1])) -vv2.print_(b"vv2:") -vv.print_(b"vv:") - -vv.insert(4, np.array([1.,2.,4.])) -vv.print_(b"vv:") -vv3 = vv.add(vv2) - -vv3.print_(b"vv3:") - -values = Values() -values.insertPoint3(1, Point3()) -values.insertRot3(2, Rot3()) -values.print_(b"values:") - -factor = PriorFactorVector(1, np.array([1.,2.,3.]), diag) -print "Prior factor vector: ", factor