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update assertions

release/4.3a0
Varun Agrawal 2022-04-29 18:08:18 -04:00
parent 53b370566e
commit ad2e347c12
1 changed files with 11 additions and 13 deletions
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24
python/gtsam/tests/test_Sim2.py
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@ -12,9 +12,7 @@ Author: John Lambert
import unittest import unittest
import numpy as np import numpy as np
from gtsam import Pose2, Pose2Pairs, Rot2, Similarity2
import gtsam
from gtsam import Point2, Pose2, Pose2Pairs, Rot2, Similarity2
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
@ -135,10 +133,10 @@ class TestSim2(GtsamTestCase):
bta = np.array([1, 2]) bta = np.array([1, 2])
bsa = 3.0 bsa = 3.0
bSa = Similarity2(R=bRa, t=bta, s=bsa) bSa = Similarity2(R=bRa, t=bta, s=bsa)
assert isinstance(bSa, Similarity2) self.assertIsInstance(bSa, Similarity2)
assert np.allclose(bSa.rotation().matrix(), bRa.matrix()) np.testing.assert_allclose(bSa.rotation().matrix(), bRa.matrix())
assert np.allclose(bSa.translation(), bta) np.testing.assert_allcloseallclose(bSa.translation(), bta)
assert np.allclose(bSa.scale(), bsa) np.testing.assert_allcloseallclose(bSa.scale(), bsa)
def test_is_eq(self) -> None: def test_is_eq(self) -> None:
"""Ensure object equality works properly (are equal).""" """Ensure object equality works properly (are equal)."""
@ -150,19 +148,19 @@ class TestSim2(GtsamTestCase):
"""Ensure object equality works properly (not equal translation).""" """Ensure object equality works properly (not equal translation)."""
bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0) bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
bSa_ = Similarity2(R=Rot2(), t=np.array([1.0, 2.0]), s=3) bSa_ = Similarity2(R=Rot2(), t=np.array([1.0, 2.0]), s=3)
assert bSa != bSa_ self.assertNotEqual(bSa, bSa_)
def test_not_eq_rotation(self) -> None: def test_not_eq_rotation(self) -> None:
"""Ensure object equality works properly (not equal rotation).""" """Ensure object equality works properly (not equal rotation)."""
bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0) bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
bSa_ = Similarity2(R=Rot2.fromDegrees(180), t=np.array([2.0, 1.0]), s=3) bSa_ = Similarity2(R=Rot2.fromDegrees(180), t=np.array([2.0, 1.0]), s=3)
assert bSa != bSa_ self.assertNotEqual(bSa, bSa_)
def test_not_eq_scale(self) -> None: def test_not_eq_scale(self) -> None:
"""Ensure object equality works properly (not equal scale).""" """Ensure object equality works properly (not equal scale)."""
bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0) bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
bSa_ = Similarity2(R=Rot2(), t=np.array([2.0, 1.0]), s=1.0) bSa_ = Similarity2(R=Rot2(), t=np.array([2.0, 1.0]), s=1.0)
assert bSa != bSa_ self.assertNotEqual(bSa, bSa_)
def test_rotation(self) -> None: def test_rotation(self) -> None:
"""Ensure rotation component is returned properly.""" """Ensure rotation component is returned properly."""
@ -172,7 +170,7 @@ class TestSim2(GtsamTestCase):
# evaluates to [[0, -1], [1, 0]] # evaluates to [[0, -1], [1, 0]]
expected_R = Rot2.fromDegrees(90) expected_R = Rot2.fromDegrees(90)
assert np.allclose(expected_R.matrix(), bSa.rotation().matrix()) np.testing.assert_allclose(expected_R.matrix(), bSa.rotation().matrix())
def test_translation(self) -> None: def test_translation(self) -> None:
"""Ensure translation component is returned properly.""" """Ensure translation component is returned properly."""
@ -181,7 +179,7 @@ class TestSim2(GtsamTestCase):
bSa = Similarity2(R=R, t=t, s=3.0) bSa = Similarity2(R=R, t=t, s=3.0)
expected_t = np.array([1, 2]) expected_t = np.array([1, 2])
assert np.allclose(expected_t, bSa.translation()) np.testing.assert_allclose(expected_t, bSa.translation())
def test_scale(self) -> None: def test_scale(self) -> None:
"""Ensure the scale factor is returned properly.""" """Ensure the scale factor is returned properly."""
@ -189,7 +187,7 @@ class TestSim2(GtsamTestCase):
bta = np.array([1, 2]) bta = np.array([1, 2])
bsa = 3.0 bsa = 3.0
bSa = Similarity2(R=bRa, t=bta, s=bsa) bSa = Similarity2(R=bRa, t=bta, s=bsa)
assert bSa.scale() == 3.0 self.assertEqual(bSa.scale(), 3.0)
if __name__ == "__main__": if __name__ == "__main__":