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fix formatting and other issues

release/4.3a0
Varun Agrawal 2022-12-29 10:33:33 +05:30
parent cc2183adb3
commit 1eb6fc77a0
1 changed files with 6 additions and 9 deletions
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15
python/gtsam/tests/test_HybridFactorGraph.py
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@ -10,21 +10,19 @@ Author: Fan Jiang
""" """
# pylint: disable=invalid-name, no-name-in-module, no-member # pylint: disable=invalid-name, no-name-in-module, no-member
from __future__ import print_function
import unittest import unittest
import gtsam
import numpy as np import numpy as np
from gtsam.symbol_shorthand import C, X from gtsam.symbol_shorthand import C, X
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
import gtsam
class TestHybridGaussianFactorGraph(GtsamTestCase): class TestHybridGaussianFactorGraph(GtsamTestCase):
"""Unit tests for HybridGaussianFactorGraph.""" """Unit tests for HybridGaussianFactorGraph."""
def test_create(self): def test_create(self):
"""Test contruction of hybrid factor graph.""" """Test construction of hybrid factor graph."""
noiseModel = gtsam.noiseModel.Unit.Create(3) noiseModel = gtsam.noiseModel.Unit.Create(3)
dk = gtsam.DiscreteKeys() dk = gtsam.DiscreteKeys()
dk.push_back((C(0), 2)) dk.push_back((C(0), 2))
@ -45,7 +43,6 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph( gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
hfg, [C(0)])) hfg, [C(0)]))
# print("hbn = ", hbn)
self.assertEqual(hbn.size(), 2) self.assertEqual(hbn.size(), 2)
mixture = hbn.at(0).inner() mixture = hbn.at(0).inner()
@ -56,7 +53,7 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional) self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional)
def test_optimize(self): def test_optimize(self):
"""Test contruction of hybrid factor graph.""" """Test construction of hybrid factor graph."""
noiseModel = gtsam.noiseModel.Unit.Create(3) noiseModel = gtsam.noiseModel.Unit.Create(3)
dk = gtsam.DiscreteKeys() dk = gtsam.DiscreteKeys()
dk.push_back((C(0), 2)) dk.push_back((C(0), 2))
@ -73,16 +70,16 @@ class TestHybridGaussianFactorGraph(GtsamTestCase):
hfg.add(jf2) hfg.add(jf2)
hfg.push_back(gmf) hfg.push_back(gmf)
dtf = gtsam.DecisionTreeFactor([(C(0), 2)],"0 1") dtf = gtsam.DecisionTreeFactor([(C(0), 2)], "0 1")
hfg.add(dtf) hfg.add(dtf)
hbn = hfg.eliminateSequential( hbn = hfg.eliminateSequential(
gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph( gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
hfg, [C(0)])) hfg, [C(0)]))
# print("hbn = ", hbn)
hv = hbn.optimize() hv = hbn.optimize()
self.assertEqual(hv.atDiscrete(C(0)), 1) self.assertEqual(hv.atDiscrete(C(0)), 1)
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()