From 25513379e319132bb0b79c4873500e22ec330945 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Sat, 11 Jul 2020 14:37:54 -0400 Subject: [PATCH] Add unit test --- cython/gtsam/tests/test_NonlinearOptimizer.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/cython/gtsam/tests/test_NonlinearOptimizer.py b/cython/gtsam/tests/test_NonlinearOptimizer.py index efefb218a..985dc30a2 100644 --- a/cython/gtsam/tests/test_NonlinearOptimizer.py +++ b/cython/gtsam/tests/test_NonlinearOptimizer.py @@ -17,7 +17,8 @@ import unittest import gtsam from gtsam import (DoglegOptimizer, DoglegParams, GaussNewtonOptimizer, GaussNewtonParams, LevenbergMarquardtOptimizer, - LevenbergMarquardtParams, NonlinearFactorGraph, Ordering, + LevenbergMarquardtParams, PCGSolverParameters, + DummyPreconditionerParameters, NonlinearFactorGraph, Ordering, Point2, PriorFactorPoint2, Values) from gtsam.utils.test_case import GtsamTestCase @@ -61,6 +62,16 @@ class TestScenario(GtsamTestCase): fg, initial_values, lmParams).optimize() self.assertAlmostEqual(0, fg.error(actual2)) + # Levenberg-Marquardt + lmParams = LevenbergMarquardtParams.CeresDefaults() + lmParams.setLinearSolverType("ITERATIVE") + cgParams = PCGSolverParameters() + cgParams.setPreconditionerParams(DummyPreconditionerParameters()) + lmParams.setIterativeParams(cgParams) + actual2 = LevenbergMarquardtOptimizer( + fg, initial_values, lmParams).optimize() + self.assertAlmostEqual(0, fg.error(actual2)) + # Dogleg dlParams = DoglegParams() dlParams.setOrdering(ordering)