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fix python tests

release/4.3a0
Varun Agrawal 2024-09-15 09:46:33 -04:00
parent 1b7435361e
commit 1c74da26f4
2 changed files with 8 additions and 9 deletions
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4
python/gtsam/tests/test_HybridFactorGraph.py
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@ -37,7 +37,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
jf1 = JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)), model) jf1 = JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)), model)
jf2 = JacobianFactor(X(0), np.eye(3), np.ones((3, 1)), model) jf2 = JacobianFactor(X(0), np.eye(3), np.ones((3, 1)), model)
gmf = HybridGaussianFactor([X(0)], dk, [jf1, jf2]) gmf = HybridGaussianFactor([X(0)], dk, [(jf1, 0), (jf2, 0)])
hfg = HybridGaussianFactorGraph() hfg = HybridGaussianFactorGraph()
hfg.push_back(jf1) hfg.push_back(jf1)
@ -64,7 +64,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
jf1 = JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)), model) jf1 = JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)), model)
jf2 = JacobianFactor(X(0), np.eye(3), np.ones((3, 1)), model) jf2 = JacobianFactor(X(0), np.eye(3), np.ones((3, 1)), model)
gmf = HybridGaussianFactor([X(0)], dk, [jf1, jf2]) gmf = HybridGaussianFactor([X(0)], dk, [(jf1, 0), (jf2, 0)])
hfg = HybridGaussianFactorGraph() hfg = HybridGaussianFactorGraph()
hfg.push_back(jf1) hfg.push_back(jf1)

13
python/gtsam/tests/test_HybridNonlinearFactorGraph.py
View File

@ -35,13 +35,12 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
nlfg.push_back( nlfg.push_back(
PriorFactorPoint3(2, Point3(1, 2, 3), PriorFactorPoint3(2, Point3(1, 2, 3),
noiseModel.Diagonal.Variances([0.5, 0.5, 0.5]))) noiseModel.Diagonal.Variances([0.5, 0.5, 0.5])))
nlfg.push_back(
gtsam.HybridNonlinearFactor([1], dk, [ factors = [(PriorFactorPoint3(1, Point3(0, 0, 0),
PriorFactorPoint3(1, Point3(0, 0, 0), noiseModel.Unit.Create(3)), 0.0),
noiseModel.Unit.Create(3)), (PriorFactorPoint3(1, Point3(1, 2, 1),
PriorFactorPoint3(1, Point3(1, 2, 1), noiseModel.Unit.Create(3)), 0.0)]
noiseModel.Unit.Create(3)) nlfg.push_back(gtsam.HybridNonlinearFactor([1], dk, factors))
]))
nlfg.push_back(gtsam.DecisionTreeFactor((10, 2), "1 3")) nlfg.push_back(gtsam.DecisionTreeFactor((10, 2), "1 3"))
values = gtsam.Values() values = gtsam.Values()
values.insert_point3(1, Point3(0, 0, 0)) values.insert_point3(1, Point3(0, 0, 0))