fix formatting and other issues
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				|  | @ -10,21 +10,19 @@ Author: Fan Jiang | |||
| """ | ||||
| # pylint: disable=invalid-name, no-name-in-module, no-member | ||||
| 
 | ||||
| from __future__ import print_function | ||||
| 
 | ||||
| import unittest | ||||
| 
 | ||||
| import gtsam | ||||
| import numpy as np | ||||
| from gtsam.symbol_shorthand import C, X | ||||
| from gtsam.utils.test_case import GtsamTestCase | ||||
| 
 | ||||
| import gtsam | ||||
| 
 | ||||
| 
 | ||||
| class TestHybridGaussianFactorGraph(GtsamTestCase): | ||||
|     """Unit tests for HybridGaussianFactorGraph.""" | ||||
| 
 | ||||
|     def test_create(self): | ||||
|         """Test contruction of hybrid factor graph.""" | ||||
|         """Test construction of hybrid factor graph.""" | ||||
|         noiseModel = gtsam.noiseModel.Unit.Create(3) | ||||
|         dk = gtsam.DiscreteKeys() | ||||
|         dk.push_back((C(0), 2)) | ||||
|  | @ -45,7 +43,6 @@ class TestHybridGaussianFactorGraph(GtsamTestCase): | |||
|             gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph( | ||||
|                 hfg, [C(0)])) | ||||
| 
 | ||||
|         # print("hbn = ", hbn) | ||||
|         self.assertEqual(hbn.size(), 2) | ||||
| 
 | ||||
|         mixture = hbn.at(0).inner() | ||||
|  | @ -56,7 +53,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase): | |||
|         self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional) | ||||
| 
 | ||||
|     def test_optimize(self): | ||||
|         """Test contruction of hybrid factor graph.""" | ||||
|         """Test construction of hybrid factor graph.""" | ||||
|         noiseModel = gtsam.noiseModel.Unit.Create(3) | ||||
|         dk = gtsam.DiscreteKeys() | ||||
|         dk.push_back((C(0), 2)) | ||||
|  | @ -73,16 +70,16 @@ class TestHybridGaussianFactorGraph(GtsamTestCase): | |||
|         hfg.add(jf2) | ||||
|         hfg.push_back(gmf) | ||||
| 
 | ||||
|         dtf = gtsam.DecisionTreeFactor([(C(0), 2)],"0 1") | ||||
|         dtf = gtsam.DecisionTreeFactor([(C(0), 2)], "0 1") | ||||
|         hfg.add(dtf) | ||||
| 
 | ||||
|         hbn = hfg.eliminateSequential( | ||||
|             gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph( | ||||
|                 hfg, [C(0)])) | ||||
| 
 | ||||
|         # print("hbn = ", hbn) | ||||
|         hv = hbn.optimize() | ||||
|         self.assertEqual(hv.atDiscrete(C(0)), 1) | ||||
| 
 | ||||
| 
 | ||||
| if __name__ == "__main__": | ||||
|     unittest.main() | ||||
|  |  | |||
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