From 5e97efa81518f3ecc83d83d43e425edbe951ceed Mon Sep 17 00:00:00 2001
From: Jeremy Aguilon <jeraguilon@gmail.com>
Date: Wed, 27 Feb 2019 13:04:38 -0500
Subject: [PATCH] Liner and update Cmakelists

---
 THANKS                                        |  1 +
 cython/CMakeLists.txt                         |  3 +--
 cython/gtsam_unstable/__init__.py.in          |  1 +
 .../examples/FixedLagSmootherExample.py       | 19 +++++++++++++++++++
 .../tests/test_FixedLagSmootherExample.py     | 12 +++++++++---
 5 files changed, 31 insertions(+), 5 deletions(-)
 create mode 100644 cython/gtsam_unstable/__init__.py.in

diff --git a/THANKS b/THANKS
index f84cfa185..689074b6f 100644
--- a/THANKS
+++ b/THANKS
@@ -1,5 +1,6 @@
 GTSAM was made possible by the efforts of many collaborators at Georgia Tech, listed below with their current afffiliation, if they left Tech:
 
+* Jeremy Aguilon
 * Sungtae An
 * Doru Balcan, Bank of America
 * Chris Beall
diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt
index bc21b91d1..b832a76a5 100644
--- a/cython/CMakeLists.txt
+++ b/cython/CMakeLists.txt
@@ -26,8 +26,7 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
                                     gtsam_unstable  # library to link with
                                     "gtsam_unstable;gtsam_unstable_header;cythonize_gtsam"  # dependencies to be built before wrapping
                                     )
-    # for some reasons cython gtsam_unstable can't find gtsam/gtsam.pxd without doing this
-    file(WRITE ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py "")
+    configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py)
   endif()
 
   # Install the custom-generated __init__.py
diff --git a/cython/gtsam_unstable/__init__.py.in b/cython/gtsam_unstable/__init__.py.in
new file mode 100644
index 000000000..2b0a28321
--- /dev/null
+++ b/cython/gtsam_unstable/__init__.py.in
@@ -0,0 +1 @@
+from gtsam_unstable import *
diff --git a/cython/gtsam_unstable/examples/FixedLagSmootherExample.py b/cython/gtsam_unstable/examples/FixedLagSmootherExample.py
index b9777a07c..5fc3bc98d 100644
--- a/cython/gtsam_unstable/examples/FixedLagSmootherExample.py
+++ b/cython/gtsam_unstable/examples/FixedLagSmootherExample.py
@@ -1,4 +1,11 @@
 """
+GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+See LICENSE for the license information
+
 Demonstration of the fixed-lag smoothers using a planar robot example
 and multiple odometry-like sensors
 Author: Frank Dellaert (C++), Jeremy Aguilon (Python)
@@ -11,12 +18,21 @@ import gtsam_unstable
 
 
 def _timestamp_key_value(key, value):
+    """
+
+    """
     return gtsam_unstable.FixedLagSmootherKeyTimestampMapValue(
         key, value
     )
 
 
 def BatchFixedLagSmootherExample():
+    """
+    Runs a batch fixed smoother on an agent with two odometry
+    sensors that is simply moving along the x axis in constant
+    speed.
+    """
+
     # Define a batch fixed lag smoother, which uses
     # Levenberg-Marquardt to perform the nonlinear optimization
     lag = 2.0
@@ -41,6 +57,9 @@ def BatchFixedLagSmootherExample():
     delta_time = 0.25
     time = 0.25
 
+    # Iterates from 0.25s to 3.0s, adding 0.25s each loop
+    # In each iteration, the agent moves at a constant speed
+    # and its two odometers measure the change.
     while time <= 3.0:
         previous_key = 1000 * (time - delta_time)
         current_key = 1000 * time
diff --git a/cython/gtsam_unstable/tests/test_FixedLagSmootherExample.py b/cython/gtsam_unstable/tests/test_FixedLagSmootherExample.py
index 64895f4d3..8994913a2 100644
--- a/cython/gtsam_unstable/tests/test_FixedLagSmootherExample.py
+++ b/cython/gtsam_unstable/tests/test_FixedLagSmootherExample.py
@@ -8,9 +8,16 @@ def _timestamp_key_value(key, value):
         key, value
     )
 class TestFixedLagSmootherExample(unittest.TestCase):
-    # Simple test that checks for equality between C++ example
-    # file and the Python implementation
+    '''
+    Tests the fixed lag smoother wrapper
+    '''
+
     def test_FixedLagSmootherExample(self):
+        '''
+        Simple test that checks for equality between C++ example
+        file and the Python implementation. See
+        gtsam_unstable/examples/FixedLagSmootherExample.cpp
+        '''
         # Define a batch fixed lag smoother, which uses
         # Levenberg-Marquardt to perform the nonlinear optimization
         lag = 2.0
@@ -81,7 +88,6 @@ class TestFixedLagSmootherExample(unittest.TestCase):
 
             estimate = smoother_batch.calculateEstimatePose2(current_key)
             self.assertTrue(estimate.equals(ground_truth[i], 1e-4))
-            print("PASS")
 
             new_timestamps.clear()
             new_values.clear()