clean up test_Pose3SLAMExample.py
parent
c9bcb1430c
commit
85e58a78bb
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@ -15,14 +15,14 @@ import numpy as np
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import gtsam
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from gtsam.utils.test_case import GtsamTestCase
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from gtsam.utils.circlePose3 import *
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from gtsam.utils.circlePose3 import circlePose3
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class TestPose3SLAMExample(GtsamTestCase):
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def test_Pose3SLAMExample(self):
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def test_Pose3SLAMExample(self) -> None:
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# Create a hexagon of poses
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hexagon = circlePose3(6, 1.0)
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hexagon = circlePose3(numPoses=6, radius=1.0)
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p0 = hexagon.atPose3(0)
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p1 = hexagon.atPose3(1)
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@ -31,7 +31,7 @@ class TestPose3SLAMExample(GtsamTestCase):
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fg.add(gtsam.NonlinearEqualityPose3(0, p0))
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delta = p0.between(p1)
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covariance = gtsam.noiseModel.Diagonal.Sigmas(
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np.array([0.05, 0.05, 0.05, 5. * pi / 180, 5. * pi / 180, 5. * pi / 180]))
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np.array([0.05, 0.05, 0.05, np.deg2rad(5.), np.deg2rad(5.), np.deg2rad(5.)]))
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fg.add(gtsam.BetweenFactorPose3(0, 1, delta, covariance))
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fg.add(gtsam.BetweenFactorPose3(1, 2, delta, covariance))
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fg.add(gtsam.BetweenFactorPose3(2, 3, delta, covariance))
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