diff --git a/cython/gtsam/tests/test_Scenario.py b/cython/gtsam/tests/test_Scenario.py index 4cca1400b..d68566b25 100644 --- a/cython/gtsam/tests/test_Scenario.py +++ b/cython/gtsam/tests/test_Scenario.py @@ -1,5 +1,20 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests for IMU testing scenarios. +Author: Frank Dellaert & Duy Nguyen Ta (Python) +""" +# pylint: disable=invalid-name, E1101 + +from __future__ import print_function + import math import unittest + import numpy as np import gtsam @@ -29,7 +44,8 @@ class TestScenario(unittest.TestCase): T30 = scenario.pose(T) np.testing.assert_almost_equal( np.array([math.pi, 0, math.pi]), T30.rotation().xyz()) - self.assert_(gtsam.Point3(0, 0, 2 * R).equals(T30.translation(), 1e-9)) + self.assertTrue(gtsam.Point3( + 0, 0, 2.0 * R).equals(T30.translation(), 1e-9)) if __name__ == '__main__': diff --git a/cython/gtsam/tests/test_Values.py b/cython/gtsam/tests/test_Values.py index 08e133840..0bb1e0806 100644 --- a/cython/gtsam/tests/test_Values.py +++ b/cython/gtsam/tests/test_Values.py @@ -1,8 +1,21 @@ +""" +GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, +Atlanta, Georgia 30332-0415 +All Rights Reserved + +See LICENSE for the license information + +Unit tests for IMU testing scenarios. +Author: Frank Dellaert & Duy Nguyen Ta (Python) +""" +# pylint: disable=invalid-name, E1101, E0611 import unittest + import numpy as np -from gtsam import Point2, Point3, Unit3, Rot2, Pose2, Rot3, Pose3 -from gtsam import Values, Cal3_S2, Cal3DS2, Cal3Bundler, EssentialMatrix, imuBias_ConstantBias +from gtsam import (Cal3_S2, Cal3Bundler, Cal3DS2, EssentialMatrix, Point2, + Point3, Pose2, Pose3, Rot2, Rot3, Unit3, Values, + imuBias_ConstantBias) class TestValues(unittest.TestCase): @@ -12,8 +25,8 @@ class TestValues(unittest.TestCase): E = EssentialMatrix(Rot3(), Unit3()) tol = 1e-9 - values.insert(0, Point2(0,0)) - values.insert(1, Point3(0,0,0)) + values.insert(0, Point2(0, 0)) + values.insert(1, Point3(0, 0, 0)) values.insert(2, Rot2()) values.insert(3, Pose2()) values.insert(4, Rot3()) @@ -34,18 +47,19 @@ class TestValues(unittest.TestCase): # The wrapper will automatically fix the type and storage order for you, # but for performance reasons, it's recommended to specify the correct # type and storage order. - vec = np.array([1., 2., 3.]) # for vectors, the order is not important, but dtype still is + # for vectors, the order is not important, but dtype still is + vec = np.array([1., 2., 3.]) values.insert(11, vec) mat = np.array([[1., 2.], [3., 4.]], order='F') values.insert(12, mat) # Test with dtype int and the default order='C' # This still works as the wrapper converts to the correct type and order for you # but is nornally not recommended! - mat2 = np.array([[1,2,],[3,5]]) + mat2 = np.array([[1, 2, ], [3, 5]]) values.insert(13, mat2) - self.assertTrue(values.atPoint2(0).equals(Point2(), tol)) - self.assertTrue(values.atPoint3(1).equals(Point3(), tol)) + self.assertTrue(values.atPoint2(0).equals(Point2(0,0), tol)) + self.assertTrue(values.atPoint3(1).equals(Point3(0,0,0), tol)) self.assertTrue(values.atRot2(2).equals(Rot2(), tol)) self.assertTrue(values.atPose2(3).equals(Pose2(), tol)) self.assertTrue(values.atRot3(4).equals(Rot3(), tol)) @@ -65,5 +79,6 @@ class TestValues(unittest.TestCase): actualMatrix2 = values.atMatrix(13) self.assertTrue(np.allclose(mat2, actualMatrix2, tol)) + if __name__ == "__main__": unittest.main()