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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 numpy as np
import gtsam
from gtsam import Point2, Pose2, Pose2Pairs, Rot2, Similarity2
from gtsam import Pose2, Pose2Pairs, Rot2, Similarity2
from gtsam.utils.test_case import GtsamTestCase
@ -135,10 +133,10 @@ class TestSim2(GtsamTestCase):
bta = np.array([1, 2])
bsa = 3.0
bSa = Similarity2(R=bRa, t=bta, s=bsa)
assert isinstance(bSa, Similarity2)
assert np.allclose(bSa.rotation().matrix(), bRa.matrix())
assert np.allclose(bSa.translation(), bta)
assert np.allclose(bSa.scale(), bsa)
self.assertIsInstance(bSa, Similarity2)
np.testing.assert_allclose(bSa.rotation().matrix(), bRa.matrix())
np.testing.assert_allcloseallclose(bSa.translation(), bta)
np.testing.assert_allcloseallclose(bSa.scale(), bsa)
def test_is_eq(self) -> None:
"""Ensure object equality works properly (are equal)."""
@ -150,19 +148,19 @@ class TestSim2(GtsamTestCase):
"""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([1.0, 2.0]), s=3)
assert bSa != bSa_
self.assertNotEqual(bSa, bSa_)
def test_not_eq_rotation(self) -> None:
"""Ensure object equality works properly (not equal rotation)."""
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)
assert bSa != bSa_
self.assertNotEqual(bSa, bSa_)
def test_not_eq_scale(self) -> None:
"""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([2.0, 1.0]), s=1.0)
assert bSa != bSa_
self.assertNotEqual(bSa, bSa_)
def test_rotation(self) -> None:
"""Ensure rotation component is returned properly."""
@ -172,7 +170,7 @@ class TestSim2(GtsamTestCase):
# evaluates to [[0, -1], [1, 0]]
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:
"""Ensure translation component is returned properly."""
@ -181,7 +179,7 @@ class TestSim2(GtsamTestCase):
bSa = Similarity2(R=R, t=t, s=3.0)
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:
"""Ensure the scale factor is returned properly."""
@ -189,7 +187,7 @@ class TestSim2(GtsamTestCase):
bta = np.array([1, 2])
bsa = 3.0
bSa = Similarity2(R=bRa, t=bta, s=bsa)
assert bSa.scale() == 3.0
self.assertEqual(bSa.scale(), 3.0)
if __name__ == "__main__":