12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix syntactic errors in test_Sim2.py

release/4.3a0
Varun Agrawal 2022-02-06 11:28:24 -05:00
parent 509870619b
commit 464af9f711
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
python/gtsam/tests/test_Sim2.py
View File

@ -65,7 +65,7 @@ class TestSim2(GtsamTestCase):
world frame has poses rotated about z-axis (90 degree yaw)
world and egovehicle frame translated by 11 meters w.r.t. each other
"""
Rz90 = Rot3.Rz(np.deg2rad(90))
Rz90 = Rot2.Rz(np.deg2rad(90))
# Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
# Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
@ -107,10 +107,10 @@ class TestSim2(GtsamTestCase):
R180 = Rot2.fromDegrees(180)
R270 = Rot2.fromDegrees(270)
aTi0 = Pose3(R0, np.array([2, 3]))
aTi1 = Pose3(R90, np.array([12, 3]))
aTi2 = Pose3(R180, np.array([12, 13]))
aTi3 = Pose3(R270, np.array([2, 13]))
aTi0 = Pose2(R0, np.array([2, 3]))
aTi1 = Pose2(R90, np.array([12, 3]))
aTi2 = Pose2(R180, np.array([12, 13]))
aTi3 = Pose2(R270, np.array([2, 13]))
aTi_list = [aTi0, aTi1, aTi2, aTi3]
@ -144,7 +144,7 @@ class TestSim2(GtsamTestCase):
"""Ensure object equality works properly (are equal)."""
bSa = Similarity2(R=Rot2(), t=np.array([1, 2]), s=3.0)
bSa_ = Similarity2(R=Rot2(), t=np.array([1.0, 2.0]), s=3)
assert bSa == bSa_
self.gtsamAssertEquals(bSa, bSa_)
def test_not_eq_translation(self) -> None:
"""Ensure object equality works properly (not equal translation)."""