add Python unit tests

gtsam/linear/linear.i

@@ -279,7 +279,6 @@ virtual class GaussianFactor {
 virtual class JacobianFactor : gtsam::GaussianFactor {
   //Constructors
   JacobianFactor();
-  JacobianFactor(const gtsam::GaussianFactor& factor);
   JacobianFactor(Vector b_in);
   JacobianFactor(size_t i1, Matrix A1, Vector b,
       const gtsam::noiseModel::Diagonal* model);
@@ -295,6 +294,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
   JacobianFactor(const gtsam::GaussianFactorGraph& graph,
                  const gtsam::Ordering& ordering,
                  const gtsam::VariableSlots& p_variableSlots);
+  JacobianFactor(const gtsam::GaussianFactor& factor);
 
   //Testable
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =

python/gtsam/tests/test_Factors.py

@@ -11,9 +11,8 @@ Author: Varun Agrawal
 """
 import unittest
 
-import numpy as np
-
 import gtsam
+import numpy as np
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -21,6 +20,7 @@ class TestNonlinearEquality2Factor(GtsamTestCase):
     """
     Test various instantiations of NonlinearEquality2.
     """
+
     def test_point3(self):
         """Test for Point3 version."""
         factor = gtsam.NonlinearEquality2Point3(0, 1)
@@ -30,5 +30,23 @@ class TestNonlinearEquality2Factor(GtsamTestCase):
         np.testing.assert_allclose(error, np.zeros(3))
 
 
+class TestJacobianFactor(GtsamTestCase):
+    """Test JacobianFactor"""
+
+    def test_gaussian_factor_graph(self):
+        """Test construction from GaussianFactorGraph."""
+        gfg = gtsam.GaussianFactorGraph()
+        jf = gtsam.JacobianFactor(gfg)
+        self.assertIsInstance(jf, gtsam.JacobianFactor)
+
+        nfg = gtsam.NonlinearFactorGraph()
+        nfg.push_back(gtsam.PriorFactorDouble(1, 0.0, gtsam.noiseModel.Isotropic.Sigma(1, 1.0)))
+        values = gtsam.Values()
+        values.insert(1, 0.0)
+        gfg = nfg.linearize(values)
+        jf = gtsam.JacobianFactor(gfg)
+        self.assertIsInstance(jf, gtsam.JacobianFactor)
+
+
 if __name__ == "__main__":
     unittest.main()

python/gtsam/tests/test_sam.py

@@ -50,6 +50,34 @@ class TestSam(GtsamTestCase):
         self.assertEqual(range_measurement, measurement.range())
         self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
 
+    def test_BearingRangeFactor3D(self):
+        """
+        Test that `measured` works as expected for BearingRangeFactor3D.
+        """
+        bearing_measurement = gtsam.Unit3()
+        range_measurement = 10.0
+        factor = gtsam.BearingRangeFactor3D(
+            1, 2, bearing_measurement, range_measurement,
+            gtsam.noiseModel.Isotropic.Sigma(3, 1))
+        measurement = factor.measured()
+
+        self.assertEqual(range_measurement, measurement.range())
+        self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
+
+    def test_BearingRangeFactorPose3(self):
+        """
+        Test that `measured` works as expected for BearingRangeFactorPose3.
+        """
+        range_measurement = 10.0
+        bearing_measurement = gtsam.Unit3()
+        factor = gtsam.BearingRangeFactorPose3(
+            1, 2, bearing_measurement, range_measurement,
+            gtsam.noiseModel.Isotropic.Sigma(3, 1))
+        measurement = factor.measured()
+
+        self.assertEqual(range_measurement, measurement.range())
+        self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
+
 
 if __name__ == "__main__":
     unittest.main()