fix argument name
parent
1d8a4563c9
commit
1cc67754d3
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@ -98,11 +98,11 @@ class NonlinearFactorGraph {
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string dot(
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const gtsam::Values& values,
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const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
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const GraphvizFormatting& formatting = GraphvizFormatting());
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const GraphvizFormatting& writer = GraphvizFormatting());
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void saveGraph(
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const string& s, const gtsam::Values& values,
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const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
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const GraphvizFormatting& formatting = GraphvizFormatting()) const;
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const GraphvizFormatting& writer = GraphvizFormatting()) const;
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// enabling serialization functionality
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void serialize() const;
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@ -0,0 +1,53 @@
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"""
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GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Unit tests for Linear Factor Graphs.
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Author: Frank Dellaert & Gerry Chen
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"""
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# pylint: disable=invalid-name, no-name-in-module, no-member
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from __future__ import print_function
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import unittest
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import gtsam
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import numpy as np
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from gtsam import GaussianBayesNet, GaussianConditional
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from gtsam.utils.test_case import GtsamTestCase
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# some keys
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_x_ = 11
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_y_ = 22
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_z_ = 33
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def smallBayesNet():
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"""Create a small Bayes Net for testing"""
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bayesNet = GaussianBayesNet()
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I_1x1 = np.eye(1, dtype=float)
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bayesNet.push_back(GaussianConditional(
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_x_, [9.0], I_1x1, _y_, I_1x1))
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bayesNet.push_back(GaussianConditional(_y_, [5.0], I_1x1))
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return bayesNet
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class TestGaussianBayesNet(GtsamTestCase):
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"""Tests for Gaussian Bayes nets."""
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def test_matrix(self):
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"""Test matrix method"""
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R, d = smallBayesNet().matrix() # get matrix and RHS
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R1 = np.array([
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[1.0, 1.0],
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[0.0, 1.0]])
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d1 = np.array([9.0, 5.0])
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np.testing.assert_equal(R, R1)
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np.testing.assert_equal(d, d1)
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if __name__ == '__main__':
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unittest.main()
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