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fix numpy deprecation warnings

release/4.3a0
Varun Agrawal 2021-03-24 00:33:25 -04:00
parent 74e4fc392c
commit 73b0436755
8 changed files with 17 additions and 17 deletions
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2
python/gtsam/examples/ImuFactorISAM2Example.py
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@ -24,7 +24,7 @@ from gtsam.utils import plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
g = 9.81

12
python/gtsam/examples/PlanarManipulatorExample.py
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@ -29,7 +29,7 @@ from gtsam.utils.test_case import GtsamTestCase
def vector3(x, y, z):
"""Create 3D double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
def compose(*poses):
@ -94,7 +94,7 @@ class ThreeLinkArm(object):
[-self.L1*math.sin(q[0]) - self.L2*math.sin(a)-self.L3*math.sin(b),
-self.L1*math.sin(a)-self.L3*math.sin(b),
- self.L3*math.sin(b)],
[1, 1, 1]], np.float)
[1, 1, 1]], float)
def poe(self, q):
""" Forward kinematics.
@ -230,12 +230,12 @@ class TestPose2SLAMExample(GtsamTestCase):
def test_jacobian(self):
"""Test Jacobian calculation."""
# at rest
expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], float)
J = self.arm.jacobian(Q0)
np.testing.assert_array_almost_equal(J, expected)
# at -90, 90, 0
expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], float)
J = self.arm.jacobian(Q2)
np.testing.assert_array_almost_equal(J, expected)
@ -280,13 +280,13 @@ class TestPose2SLAMExample(GtsamTestCase):
def test_manipulator_jacobian(self):
"""Test Jacobian calculation."""
# at rest
expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], float)
J = self.arm.manipulator_jacobian(Q0)
np.testing.assert_array_almost_equal(J, expected)
# at -90, 90, 0
expected = np.array(
[[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], np.float)
[[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], float)
J = self.arm.manipulator_jacobian(Q2)
np.testing.assert_array_almost_equal(J, expected)

2
python/gtsam/examples/Pose2SLAMExample.py
View File

@ -25,7 +25,7 @@ import gtsam.utils.plot as gtsam_plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
# Create noise models
PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(vector3(0.3, 0.3, 0.1))

2
python/gtsam/examples/Pose2SLAMExample_g2o.py
View File

@ -23,7 +23,7 @@ from gtsam.utils import plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
parser = argparse.ArgumentParser(

2
python/gtsam/examples/Pose3SLAMExample_g2o.py
View File

@ -19,7 +19,7 @@ from gtsam.utils import plot
def vector6(x, y, z, a, b, c):
"""Create 6d double numpy array."""
return np.array([x, y, z, a, b, c], dtype=np.float)
return np.array([x, y, z, a, b, c], dtype=float)
parser = argparse.ArgumentParser(

6
python/gtsam/examples/PreintegrationExample.py
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@ -29,11 +29,11 @@ class PreintegrationExample(object):
kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW
kAccelSigma = 0.1 / 60 # 10 cm VRW
params.setGyroscopeCovariance(
kGyroSigma ** 2 * np.identity(3, np.float))
kGyroSigma ** 2 * np.identity(3, float))
params.setAccelerometerCovariance(
kAccelSigma ** 2 * np.identity(3, np.float))
kAccelSigma ** 2 * np.identity(3, float))
params.setIntegrationCovariance(
0.0000001 ** 2 * np.identity(3, np.float))
0.0000001 ** 2 * np.identity(3, float))
return params
def __init__(self, twist=None, bias=None, dt=1e-2):

4
python/gtsam/tests/test_SO4.py
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@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase):
def test_retract(self):
"""Test retraction to manifold."""
v = np.zeros((6,), np.float)
v = np.zeros((6,), float)
actual = I4.retract(v)
self.assertTrue(actual.equals(I4, 1e-9))
def test_local(self):
"""Check localCoordinates for trivial case."""
v0 = np.zeros((6,), np.float)
v0 = np.zeros((6,), float)
actual = I4.localCoordinates(I4)
np.testing.assert_array_almost_equal(actual, v0)

4
python/gtsam/tests/test_SOn.py
View File

@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase):
def test_retract(self):
"""Test retraction to manifold."""
v = np.zeros((6,), np.float)
v = np.zeros((6,), float)
actual = I4.retract(v)
self.assertTrue(actual.equals(I4, 1e-9))
def test_local(self):
"""Check localCoordinates for trivial case."""
v0 = np.zeros((6,), np.float)
v0 = np.zeros((6,), float)
actual = I4.localCoordinates(I4)
np.testing.assert_array_almost_equal(actual, v0)