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docstrings and formatting

release/4.3a0
Gerry Chen 2021-08-27 12:01:06 -04:00
parent b99bf4e929
commit 2f6b8d6314
1 changed files with 20 additions and 2 deletions
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22
python/gtsam/tests/test_basis.py
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@ -16,23 +16,41 @@ import gtsam
from gtsam.utils.test_case import GtsamTestCase
from gtsam.symbol_shorthand import B
class TestBasis(GtsamTestCase):
"""Tests Basis module python bindings
"""
def test_fit_basis(self):
"""Tests FitBasis python binding for FourierBasis, Chebyshev1Basis, Chebyshev2Basis, and
Chebyshev2.
It tests FitBasis by fitting to a ground-truth function that can be represented exactly in
the basis, then checking that the regression (fit result) matches the function. For the
Chebyshev bases, the line y=x is used to generate the data while for Fourier, 0.7*cos(x) is
used.
"""
f = lambda x: x # line y = x
N = 2
datax = [0., 0.5, 0.75]
interpx = np.linspace(0., 1., 10)
noise = gtsam.noiseModel.Unit.Create(1)
def evaluate(basis, fitparams, x):
# until wrapper for Basis functors are ready, this is how to evaluate a basis function.
return basis.WeightMatrix(N, x) @ fitparams
def testBasis(fitter, basis, f=f):
# test a basis by checking that the fit result matches the function at x-values interpx.
data = {x: f(x) for x in datax}
fit = fitter(data, noise, N)
coeff = fit.parameters()
interpy = basis.WeightMatrix(N, interpx) @ coeff
interpy = evaluate(basis, coeff, interpx)
np.testing.assert_almost_equal(interpy, np.array([f(x) for x in interpx]), decimal=7)
testBasis(gtsam.FitBasisFourierBasis, gtsam.FourierBasis, f=lambda x: 0.7*np.cos(x))
testBasis(gtsam.FitBasisFourierBasis, gtsam.FourierBasis, f=lambda x: 0.7 * np.cos(x))
testBasis(gtsam.FitBasisChebyshev1Basis, gtsam.Chebyshev1Basis)
testBasis(gtsam.FitBasisChebyshev2Basis, gtsam.Chebyshev2Basis)
testBasis(gtsam.FitBasisChebyshev2, gtsam.Chebyshev2)
if __name__ == "__main__":
unittest.main()