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formatting

release/4.3a0
Varun Agrawal 2021-09-01 15:29:39 -04:00
parent fbdef91c54
commit 9f661c01cf
1 changed files with 5 additions and 7 deletions
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12
python/gtsam/tests/test_Pose2.py
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@ -19,7 +19,6 @@ from gtsam.utils.test_case import GtsamTestCase
class TestPose2(GtsamTestCase):
"""Test selected Pose2 methods."""
def test_adjoint(self) -> None:
"""Test adjoint method."""
xi = np.array([1, 2, 3])
@ -29,9 +28,9 @@ class TestPose2(GtsamTestCase):
def test_align(self) -> None:
"""Ensure estimation of the Pose2 element to align two 2d point clouds succeeds.
Two point clouds represent horseshoe-shapes of the same size, just rotated and translated:
| X---X
| |
| X---X
@ -42,18 +41,17 @@ class TestPose2(GtsamTestCase):
| | |
O---O
"""
# fmt: off
pts_a = [
Point2(3, 1),
Point2(1, 1),
Point2(1, 3),
Point2(3, 3)
Point2(3, 3),
]
pts_b = [
Point2(1, -3),
Point2(1, -5),
Point2(-1, -5),
Point2(-1, -3)
Point2(-1, -3),
]
# fmt: on
@ -65,7 +63,7 @@ class TestPose2(GtsamTestCase):
for pt_a, pt_b in zip(pts_a, pts_b):
pt_a_ = aTb.transformFrom(pt_b)
assert np.allclose(pt_a, pt_a_)
if __name__ == "__main__":
unittest.main()