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Merge pull request #863 from borglab/fix/python-tests-cmake 

Fix Python Tests Cmake
release/4.3a0
Gerry Chen 2021-08-29 10:40:50 -04:00 committed by GitHub
parent 2f6b8d6314 289cb8f35b
commit 1764a7cf6b
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 78 additions and 33 deletions
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2
.github/scripts/python.sh vendored
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@ -85,4 +85,4 @@ make -j2 install
cd $GITHUB_WORKSPACE/build/python
$PYTHON setup.py install --user --prefix=
cd $GITHUB_WORKSPACE/python/gtsam/tests
$PYTHON -m unittest discover
$PYTHON -m unittest discover -v

10
gtsam/basis/Fourier.h
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@ -40,9 +40,13 @@ class GTSAM_EXPORT FourierBasis : public Basis<FourierBasis> {
static Weights CalculateWeights(size_t N, double x) {
Weights b(N);
b[0] = 1;
for (size_t i = 1, n = 1; i < N; i += 2, n++) {
b[i] = cos(n * x);
b[i + 1] = sin(n * x);
for (size_t i = 1, n = 1; i < N; i++) {
if (i % 2 == 1) {
b[i] = cos(n * x);
} else {
b[i] = sin(n * x);
n++;
}
}
return b;
}

5
python/CMakeLists.txt
View File

@ -166,5 +166,6 @@ add_custom_target(
COMMAND
${CMAKE_COMMAND} -E env # add package to python path so no need to install
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
${PYTHON_EXECUTABLE} -m unittest discover -s "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests"
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES})
${PYTHON_EXECUTABLE} -m unittest discover -v -s .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests")

94
python/gtsam/tests/test_basis.py
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@ -18,38 +18,78 @@ from gtsam.symbol_shorthand import B
class TestBasis(GtsamTestCase):
"""Tests Basis module python bindings
"""
def test_fit_basis(self):
"""Tests FitBasis python binding for FourierBasis, Chebyshev1Basis, Chebyshev2Basis, and
Chebyshev2.
It tests FitBasis by fitting to a ground-truth function that can be represented exactly in
the basis, then checking that the regression (fit result) matches the function. For the
Chebyshev bases, the line y=x is used to generate the data while for Fourier, 0.7*cos(x) is
used.
Tests FitBasis python binding for FourierBasis, Chebyshev1Basis, Chebyshev2Basis, and Chebyshev2.
It tests FitBasis by fitting to a ground-truth function that can be represented exactly in
the basis, then checking that the regression (fit result) matches the function. For the
Chebyshev bases, the line y=x is used to generate the data while for Fourier, 0.7*cos(x) is
used.
"""
def setUp(self):
self.N = 2
self.x = [0., 0.5, 0.75]
self.interpx = np.linspace(0., 1., 10)
self.noise = gtsam.noiseModel.Unit.Create(1)
def evaluate(self, basis, fitparams, x):
"""
f = lambda x: x # line y = x
N = 2
datax = [0., 0.5, 0.75]
interpx = np.linspace(0., 1., 10)
noise = gtsam.noiseModel.Unit.Create(1)
Until wrapper for Basis functors are ready,
this is how to evaluate a basis function.
"""
return basis.WeightMatrix(self.N, x) @ fitparams
def evaluate(basis, fitparams, x):
# until wrapper for Basis functors are ready, this is how to evaluate a basis function.
return basis.WeightMatrix(N, x) @ fitparams
def fit_basis_helper(self, fitter, basis, f=lambda x: x):
"""Helper method to fit data to a specified fitter using a specified basis."""
data = {x: f(x) for x in self.x}
fit = fitter(data, self.noise, self.N)
coeff = fit.parameters()
interpy = self.evaluate(basis, coeff, self.interpx)
return interpy
def testBasis(fitter, basis, f=f):
# test a basis by checking that the fit result matches the function at x-values interpx.
data = {x: f(x) for x in datax}
fit = fitter(data, noise, N)
coeff = fit.parameters()
interpy = evaluate(basis, coeff, interpx)
np.testing.assert_almost_equal(interpy, np.array([f(x) for x in interpx]), decimal=7)
def test_fit_basis_fourier(self):
"""Fit a Fourier basis."""
testBasis(gtsam.FitBasisFourierBasis, gtsam.FourierBasis, f=lambda x: 0.7 * np.cos(x))
testBasis(gtsam.FitBasisChebyshev1Basis, gtsam.Chebyshev1Basis)
testBasis(gtsam.FitBasisChebyshev2Basis, gtsam.Chebyshev2Basis)
testBasis(gtsam.FitBasisChebyshev2, gtsam.Chebyshev2)
f = lambda x: 0.7 * np.cos(x)
interpy = self.fit_basis_helper(gtsam.FitBasisFourierBasis,
gtsam.FourierBasis, f)
# test a basis by checking that the fit result matches the function at x-values interpx.
np.testing.assert_almost_equal(interpy,
np.array([f(x) for x in self.interpx]),
decimal=7)
def test_fit_basis_chebyshev1basis(self):
"""Fit a Chebyshev1 basis."""
f = lambda x: x
interpy = self.fit_basis_helper(gtsam.FitBasisChebyshev1Basis,
gtsam.Chebyshev1Basis, f)
# test a basis by checking that the fit result matches the function at x-values interpx.
np.testing.assert_almost_equal(interpy,
np.array([f(x) for x in self.interpx]),
decimal=7)
def test_fit_basis_chebyshev2basis(self):
"""Fit a Chebyshev2 basis."""
f = lambda x: x
interpy = self.fit_basis_helper(gtsam.FitBasisChebyshev2Basis,
gtsam.Chebyshev2Basis)
# test a basis by checking that the fit result matches the function at x-values interpx.
np.testing.assert_almost_equal(interpy,
np.array([f(x) for x in self.interpx]),
decimal=7)
def test_fit_basis_chebyshev2(self):
"""Fit a Chebyshev2 pseudospectral basis."""
f = lambda x: x
interpy = self.fit_basis_helper(gtsam.FitBasisChebyshev2,
gtsam.Chebyshev2)
# test a basis by checking that the fit result matches the function at x-values interpx.
np.testing.assert_almost_equal(interpy,
np.array([f(x) for x in self.interpx]),
decimal=7)
if __name__ == "__main__":