add doc strings to python unit test and add assertions

gtsam/hybrid/GaussianMixtureConditional.cpp

@@ -85,12 +85,12 @@ bool GaussianMixtureConditional::equals(const HybridFactor &lf,
 /* *******************************************************************************/
 void GaussianMixtureConditional::print(const std::string &s,
                                        const KeyFormatter &formatter) const {
-  std::cout << s << ": ";
+  std::cout << s;
-  if (isContinuous()) std::cout << "Cont. ";
+  if (isContinuous()) std::cout << "Continuous ";
-  if (isDiscrete()) std::cout << "Disc. ";
+  if (isDiscrete()) std::cout << "Discrete ";
-  if (isHybrid()) std::cout << "Hybr. ";
+  if (isHybrid()) std::cout << "Hybrid ";
   BaseConditional::print("", formatter);
-  std::cout << "Discrete Keys = ";
+  std::cout << "\nDiscrete Keys = ";
   for (auto &dk : discreteKeys()) {
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }

gtsam/hybrid/HybridConditional.cpp

@@ -67,30 +67,36 @@ HybridConditional::HybridConditional(
 void HybridConditional::print(const std::string &s,
                               const KeyFormatter &formatter) const {
   std::cout << s;
-  if (isContinuous()) std::cout << "Cont. ";
+
-  if (isDiscrete()) std::cout << "Disc. ";
+  if (inner_) {
-  if (isHybrid()) std::cout << "Hybr. ";
+    inner_->print("", formatter);
-  std::cout << "P(";
+
-  size_t index = 0;
+  } else {
-  const size_t N = keys().size();
+    if (isContinuous()) std::cout << "Continuous ";
-  const size_t contN = N - discreteKeys_.size();
+    if (isDiscrete()) std::cout << "Discrete ";
-  while (index < N) {
+    if (isHybrid()) std::cout << "Hybrid ";
-    if (index > 0) {
+    BaseConditional::print("", formatter);
-      if (index == nrFrontals_)
+
-        std::cout << " | ";
+    std::cout << "P(";
-      else
+    size_t index = 0;
-        std::cout << ", ";
+    const size_t N = keys().size();
+    const size_t contN = N - discreteKeys_.size();
+    while (index < N) {
+      if (index > 0) {
+        if (index == nrFrontals_)
+          std::cout << " | ";
+        else
+          std::cout << ", ";
+      }
+      if (index < contN) {
+        std::cout << formatter(keys()[index]);
+      } else {
+        auto &dk = discreteKeys_[index - contN];
+        std::cout << "(" << formatter(dk.first) << ", " << dk.second << ")";
+      }
+      index++;
     }
-    if (index < contN) {
-      std::cout << formatter(keys()[index]);
-    } else {
-      auto &dk = discreteKeys_[index - contN];
-      std::cout << "(" << formatter(dk.first) << ", " << dk.second << ")";
-    }
-    index++;
   }
-  std::cout << ")\n";
-  if (inner_) inner_->print("", formatter);
 }
 
 /* ************************************************************************ */

gtsam/hybrid/HybridFactor.cpp

@@ -77,9 +77,9 @@ bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridFactor::print(const std::string &s,
                          const KeyFormatter &formatter) const {
   std::cout << s;
-  if (isContinuous_) std::cout << "Cont. ";
+  if (isContinuous_) std::cout << "Continuous ";
-  if (isDiscrete_) std::cout << "Disc. ";
+  if (isDiscrete_) std::cout << "Discrete ";
-  if (isHybrid_) std::cout << "Hybr. ";
+  if (isHybrid_) std::cout << "Hybrid ";
   this->printKeys("", formatter);
 }
 

python/gtsam/tests/test_HybridFactorGraph.py

@@ -16,24 +16,25 @@ import unittest
 
 import gtsam
 import numpy as np
-from gtsam.symbol_shorthand import X, C
+from gtsam.symbol_shorthand import C, X
 from gtsam.utils.test_case import GtsamTestCase
 
 
 class TestHybridFactorGraph(GtsamTestCase):
+    """Unit tests for HybridFactorGraph."""
+
     def test_create(self):
+        """Test contruction of hybrid factor graph."""
         noiseModel = gtsam.noiseModel.Unit.Create(3)
         dk = gtsam.DiscreteKeys()
         dk.push_back((C(0), 2))
 
-        # print(dk.at(0))
         jf1 = gtsam.JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)),
                                    noiseModel)
         jf2 = gtsam.JacobianFactor(X(0), np.eye(3), np.ones((3, 1)),
                                    noiseModel)
 
-        gmf = gtsam.GaussianMixtureFactor.FromFactorList([X(0)], dk,
+        gmf = gtsam.GaussianMixtureFactor.FromFactors([X(0)], dk, [jf1, jf2])
-                                                         [jf1, jf2])
 
         hfg = gtsam.HybridFactorGraph()
         hfg.add(jf1)
@@ -41,16 +42,17 @@ class TestHybridFactorGraph(GtsamTestCase):
         hfg.push_back(gmf)
 
         hbn = hfg.eliminateSequential(
-            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(
+            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(hfg, [C(0)]))
-                hfg, [C(0)]))
 
-        print("hbn = ", hbn)
+        # print("hbn = ", hbn)
+        self.assertEqual(hbn.size(), 2)
 
-        mixture = hbn.at(0).getInner()
+        mixture = hbn.at(0).inner()
-        print(mixture)
+        self.assertIsInstance(mixture, gtsam.GaussianMixtureConditional)
+        self.assertEqual(len(mixture.keys()), 2)
 
-        discrete_conditional = hbn.at(hbn.size()-1).getInner()
+        discrete_conditional = hbn.at(hbn.size() - 1).inner()
-        print(discrete_conditional)
+        self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional)
 
 
 if __name__ == "__main__":