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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): class TestPose2(GtsamTestCase):
"""Test selected Pose2 methods.""" """Test selected Pose2 methods."""
def test_adjoint(self) -> None: def test_adjoint(self) -> None:
"""Test adjoint method.""" """Test adjoint method."""
xi = np.array([1, 2, 3]) xi = np.array([1, 2, 3])
@ -29,9 +28,9 @@ class TestPose2(GtsamTestCase):
def test_align(self) -> None: def test_align(self) -> None:
"""Ensure estimation of the Pose2 element to align two 2d point clouds succeeds. """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: Two point clouds represent horseshoe-shapes of the same size, just rotated and translated:
| X---X | X---X
| | | |
| X---X | X---X
@ -42,18 +41,17 @@ class TestPose2(GtsamTestCase):
| | | | | |
O---O O---O
""" """
# fmt: off
pts_a = [ pts_a = [
Point2(3, 1), Point2(3, 1),
Point2(1, 1), Point2(1, 1),
Point2(1, 3), Point2(1, 3),
Point2(3, 3) Point2(3, 3),
] ]
pts_b = [ pts_b = [
Point2(1, -3), Point2(1, -3),
Point2(1, -5), Point2(1, -5),
Point2(-1, -5), Point2(-1, -5),
Point2(-1, -3) Point2(-1, -3),
] ]
# fmt: on # fmt: on
@ -65,7 +63,7 @@ class TestPose2(GtsamTestCase):
for pt_a, pt_b in zip(pts_a, pts_b): for pt_a, pt_b in zip(pts_a, pts_b):
pt_a_ = aTb.transformFrom(pt_b) pt_a_ = aTb.transformFrom(pt_b)
assert np.allclose(pt_a, pt_a_) assert np.allclose(pt_a, pt_a_)
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()