Modernized all tests

cython/gtsam/tests/test_Cal3Unified.py

@@ -1,9 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Cal3Unified unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
 
-class TestCal3Unified(unittest.TestCase):
+
+class TestCal3Unified(GtsamTestCase):
 
     def test_Cal3Unified(self):
         K = gtsam.Cal3Unified()
@@ -11,12 +24,15 @@ class TestCal3Unified(unittest.TestCase):
         self.assertEqual(K.fx(), 1.)
 
     def test_retract(self):
-        expected  = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1)
+        expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6,
-        K = gtsam.Cal3Unified(100, 105, 0.0, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0.1)
+                                     1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1)
+        K = gtsam.Cal3Unified(100, 105, 0.0, 320, 240,
+                              1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0.1)
         d = np.array([2, 3, 4, 5, 6, 7, 8, 9, 10, 1], order='F')
         actual = K.retract(d)
-        self.assertTrue(actual.equals(expected, 1e-9))
+        self.gtsamAssertEquals(actual, expected)
         np.testing.assert_allclose(d, K.localCoordinates(actual))
 
+
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_JacobianFactor.py

@@ -1,8 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+JacobianFactor unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
-class TestJacobianFactor(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestJacobianFactor(GtsamTestCase):
 
     def test_eliminate(self):
         # Recommended way to specify a matrix (see cython/README)
@@ -54,7 +68,7 @@ class TestJacobianFactor(unittest.TestCase):
         expectedCG = gtsam.GaussianConditional(
             x2, d, R11, l1, S12, x1, S13, gtsam.noiseModel_Unit.Create(2))
         # check if the result matches
-        self.assertTrue(actualCG.equals(expectedCG, 1e-4))
+        self.gtsamAssertEquals(actualCG, expectedCG, 1e-4)
 
         # the expected linear factor
         Bl1 = np.array([[4.47214, 0.00],
@@ -72,7 +86,7 @@ class TestJacobianFactor(unittest.TestCase):
         expectedLF = gtsam.JacobianFactor(l1, Bl1, x1, Bx1, b1, model2)
 
         # check if the result matches the combined (reduced) factor
-        self.assertTrue(lf.equals(expectedLF, 1e-4))
+        self.gtsamAssertEquals(lf, expectedLF, 1e-4)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_KalmanFilter.py

@@ -1,8 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+KalmanFilter unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
-class TestKalmanFilter(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestKalmanFilter(GtsamTestCase):
 
     def test_KalmanFilter(self):
         F = np.eye(2)

cython/gtsam/tests/test_LocalizationExample.py

@@ -1,8 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Localization unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
-class TestLocalizationExample(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestLocalizationExample(GtsamTestCase):
 
     def test_LocalizationExample(self):
         # Create the graph (defined in pose2SLAM.h, derived from
@@ -43,7 +57,7 @@ class TestLocalizationExample(unittest.TestCase):
         P = [None] * result.size()
         for i in range(0, result.size()):
             pose_i = result.atPose2(i)
-            self.assertTrue(pose_i.equals(groundTruth.atPose2(i), 1e-4))
+            self.gtsamAssertEquals(pose_i, groundTruth.atPose2(i), 1e-4)
             P[i] = marginals.marginalCovariance(i)
 
 if __name__ == "__main__":

cython/gtsam/tests/test_NonlinearOptimizer.py

@@ -19,12 +19,13 @@ from gtsam import (DoglegOptimizer, DoglegParams, GaussNewtonOptimizer,
                    GaussNewtonParams, LevenbergMarquardtOptimizer,
                    LevenbergMarquardtParams, NonlinearFactorGraph, Ordering,
                    Point2, PriorFactorPoint2, Values)
+from gtsam.utils.test_case import GtsamTestCase
 
 KEY1 = 1
 KEY2 = 2
 
 
-class TestScenario(unittest.TestCase):
+class TestScenario(GtsamTestCase):
     def test_optimize(self):
         """Do trivial test with three optimizer variants."""
         fg = NonlinearFactorGraph()

cython/gtsam/tests/test_OdometryExample.py

@@ -1,8 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Odometry unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
-class TestOdometryExample(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestOdometryExample(GtsamTestCase):
 
     def test_OdometryExample(self):
         # Create the graph (defined in pose2SLAM.h, derived from
@@ -39,7 +53,7 @@ class TestOdometryExample(unittest.TestCase):
 
         # Check first pose equality
         pose_1 = result.atPose2(1)
-        self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
+        self.gtsamAssertEquals(pose_1, gtsam.Pose2(), 1e-4)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_PlanarSLAMExample.py

@@ -1,11 +1,25 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+PlanarSLAM unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
 from math import pi
+
 import numpy as np
 
-class TestPose2SLAMExample(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
 
-    def test_Pose2SLAMExample(self):
+
+class TestPlanarSLAM(GtsamTestCase):
+
+    def test_PlanarSLAM(self):
         # Assumptions
         #  - All values are axis aligned
         #  - Robot poses are facing along the X axis (horizontal, to the right in images)
@@ -56,7 +70,7 @@ class TestPose2SLAMExample(unittest.TestCase):
         P = marginals.marginalCovariance(1)
 
         pose_1 = result.atPose2(1)
-        self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
+        self.gtsamAssertEquals(pose_1, gtsam.Pose2(), 1e-4)
 
 
 

cython/gtsam/tests/test_Pose2.py

@@ -1,12 +1,23 @@
-"""Pose2 unit tests."""
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Pose2 unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
 
 import numpy as np
 
+import gtsam
 from gtsam import Pose2
+from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestPose2(unittest.TestCase):
+class TestPose2(GtsamTestCase):
     """Test selected Pose2 methods."""
 
     def test_adjoint(self):

cython/gtsam/tests/test_Pose2SLAMExample.py

@@ -1,9 +1,23 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Pose2SLAM unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
 from math import pi
+
 import numpy as np
 
-class TestPose2SLAMExample(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestPose2SLAMExample(GtsamTestCase):
 
     def test_Pose2SLAMExample(self):
         # Assumptions
@@ -56,7 +70,7 @@ class TestPose2SLAMExample(unittest.TestCase):
         P = marginals.marginalCovariance(1)
 
         pose_1 = result.atPose2(1)
-        self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
+        self.gtsamAssertEquals(pose_1, gtsam.Pose2(), 1e-4)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_Pose3.py

@@ -1,13 +1,24 @@
-"""Pose3 unit tests."""
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Pose3 unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import math
 import unittest
 
 import numpy as np
 
+import gtsam
 from gtsam import Point3, Pose3, Rot3
+from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestPose3(unittest.TestCase):
+class TestPose3(GtsamTestCase):
     """Test selected Pose3 methods."""
 
     def test_between(self):
@@ -16,14 +27,14 @@ class TestPose3(unittest.TestCase):
         T3 = Pose3(Rot3.Rodrigues(-90, 0, 0), Point3(1, 2, 3))
         expected = T2.inverse().compose(T3)
         actual = T2.between(T3)
-        self.assertTrue(actual.equals(expected, 1e-6))
+        self.gtsamAssertEquals(actual, expected, 1e-6)
 
     def test_transform_to(self):
         """Test transform_to method."""
         transform = Pose3(Rot3.Rodrigues(0, 0, -1.570796), Point3(2, 4, 0))
         actual = transform.transform_to(Point3(3, 2, 10))
         expected = Point3(2, 1, 10)
-        self.assertTrue(actual.equals(expected, 1e-6))
+        self.gtsamAssertEquals(actual, expected, 1e-6)
 
     def test_range(self):
         """Test range method."""

cython/gtsam/tests/test_Pose3SLAMExample.py

@@ -1,10 +1,24 @@
-import unittest
+"""
-import numpy as np
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
-import gtsam
+Atlanta, Georgia 30332-0415
-from math import pi
+All Rights Reserved
-from gtsam.utils.circlePose3 import * 
 
-class TestPose3SLAMExample(unittest.TestCase):
+See LICENSE for the license information
+
+PoseSLAM unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
+import unittest
+from math import pi
+
+import numpy as np
+
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+from gtsam.utils.circlePose3 import *
+
+
+class TestPose3SLAMExample(GtsamTestCase):
 
     def test_Pose3SLAMExample(self):
         # Create a hexagon of poses
@@ -40,7 +54,7 @@ class TestPose3SLAMExample(unittest.TestCase):
         result = optimizer.optimizeSafely()
 
         pose_1 = result.atPose3(1)
-        self.assertTrue(pose_1.equals(p1, 1e-4))
+        self.gtsamAssertEquals(pose_1, p1, 1e-4)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_PriorFactor.py

@@ -1,8 +1,22 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+PriorFactor unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
 import numpy as np
 
-class TestPriorFactor(unittest.TestCase):
+import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestPriorFactor(GtsamTestCase):
 
     def test_PriorFactor(self):
         values = gtsam.Values()

cython/gtsam/tests/test_SFMExample.py

@@ -1,11 +1,24 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+SFM unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
-from gtsam import symbol
 import numpy as np
+
+import gtsam
 import gtsam.utils.visual_data_generator as generator
+from gtsam import symbol
+from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestSFMExample(unittest.TestCase):
+class TestSFMExample(GtsamTestCase):
 
     def test_SFMExample(self):
         options = generator.Options()
@@ -59,11 +72,11 @@ class TestSFMExample(unittest.TestCase):
         # Check optimized results, should be equal to ground truth
         for i in range(len(truth.cameras)):
             pose_i = result.atPose3(symbol(ord('x'), i))
-            self.assertTrue(pose_i.equals(truth.cameras[i].pose(), 1e-5))
+            self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
 
         for j in range(len(truth.points)):
             point_j = result.atPoint3(symbol(ord('p'), j))
-            self.assertTrue(point_j.equals(truth.points[j], 1e-5))
+            self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_Scenario.py

@@ -5,11 +5,9 @@ All Rights Reserved
 
 See LICENSE for the license information
 
-Unit tests for IMU testing scenarios.
+Scenario unit tests.
 Author: Frank Dellaert & Duy Nguyen Ta (Python)
 """
-# pylint: disable=invalid-name, E1101
-
 from __future__ import print_function
 
 import math
@@ -18,9 +16,12 @@ import unittest
 import numpy as np
 
 import gtsam
+from gtsam.utils.test_case import GtsamTestCase
+
+# pylint: disable=invalid-name, E1101
 
 
-class TestScenario(unittest.TestCase):
+class TestScenario(GtsamTestCase):
     def setUp(self):
         pass
 
@@ -44,8 +45,8 @@ class TestScenario(unittest.TestCase):
         T30 = scenario.pose(T)
         np.testing.assert_almost_equal(
             np.array([math.pi, 0, math.pi]), T30.rotation().xyz())
-        self.assertTrue(gtsam.Point3(
+        self.gtsamAssertEquals(gtsam.Point3(
-            0, 0, 2.0 * R).equals(T30.translation(), 1e-9))
+            0, 0, 2.0 * R), T30.translation(), 1e-9)
 
 
 if __name__ == '__main__':

cython/gtsam/tests/test_SimpleCamera.py

@@ -1,18 +1,31 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+SimpleCamera unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import math
-import numpy as np
 import unittest
 
-from gtsam import Pose2, Point3, Rot3, Pose3, Cal3_S2, SimpleCamera
+import numpy as np
+
+import gtsam
+from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, SimpleCamera
+from gtsam.utils.test_case import GtsamTestCase
 
 K = Cal3_S2(625, 625, 0, 0, 0)
 
-class TestSimpleCamera(unittest.TestCase):
+class TestSimpleCamera(GtsamTestCase):
 
     def test_constructor(self):
         pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5))
         camera = SimpleCamera(pose1, K)
-        self.assertTrue(camera.calibration().equals(K, 1e-9))
+        self.gtsamAssertEquals(camera.calibration(), K, 1e-9)
-        self.assertTrue(camera.pose().equals(pose1, 1e-9))
+        self.gtsamAssertEquals(camera.pose(), pose1, 1e-9)
 
     def test_level2(self):
         # Create a level camera, looking in Y-direction
@@ -25,7 +38,7 @@ class TestSimpleCamera(unittest.TestCase):
         z = Point3(0,1,0)
         wRc = Rot3(x,y,z)
         expected = Pose3(wRc,Point3(0.4,0.3,0.1))
-        self.assertTrue(camera.pose().equals(expected, 1e-9))
+        self.gtsamAssertEquals(camera.pose(), expected, 1e-9)
 
 
 if __name__ == "__main__":

cython/gtsam/tests/test_StereoVOExample.py

@@ -1,10 +1,23 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Stereo VO unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
-import gtsam
+
-from gtsam import symbol
 import numpy as np
 
+import gtsam
+from gtsam import symbol
+from gtsam.utils.test_case import GtsamTestCase
 
-class TestStereoVOExample(unittest.TestCase):
+
+class TestStereoVOExample(GtsamTestCase):
 
     def test_StereoVOExample(self):
         ## Assumptions
@@ -60,10 +73,10 @@ class TestStereoVOExample(unittest.TestCase):
 
         ## check equality for the first pose and point
         pose_x1 = result.atPose3(x1)
-        self.assertTrue(pose_x1.equals(first_pose,1e-4))
+        self.gtsamAssertEquals(pose_x1, first_pose,1e-4)
 
         point_l1 = result.atPoint3(l1)
-        self.assertTrue(point_l1.equals(expected_l1,1e-4))
+        self.gtsamAssertEquals(point_l1, expected_l1,1e-4)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_Values.py

@@ -5,7 +5,7 @@ All Rights Reserved
 
 See LICENSE for the license information
 
-Unit tests for IMU testing scenarios.
+Values unit tests.
 Author: Frank Dellaert & Duy Nguyen Ta (Python)
 """
 # pylint: disable=invalid-name, E1101, E0611
@@ -13,12 +13,14 @@ import unittest
 
 import numpy as np
 
+import gtsam
 from gtsam import (Cal3_S2, Cal3Bundler, Cal3DS2, EssentialMatrix, Point2,
                    Point3, Pose2, Pose3, Rot2, Rot3, Unit3, Values,
                    imuBias_ConstantBias)
+from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestValues(unittest.TestCase):
+class TestValues(GtsamTestCase):
 
     def test_values(self):
         values = Values()
@@ -58,26 +60,26 @@ class TestValues(unittest.TestCase):
         mat2 = np.array([[1, 2, ], [3, 5]])
         values.insert(13, mat2)
 
-        self.assertTrue(values.atPoint2(0).equals(Point2(0,0), tol))
+        self.gtsamAssertEquals(values.atPoint2(0), Point2(0,0), tol)
-        self.assertTrue(values.atPoint3(1).equals(Point3(0,0,0), tol))
+        self.gtsamAssertEquals(values.atPoint3(1), Point3(0,0,0), tol)
-        self.assertTrue(values.atRot2(2).equals(Rot2(), tol))
+        self.gtsamAssertEquals(values.atRot2(2), Rot2(), tol)
-        self.assertTrue(values.atPose2(3).equals(Pose2(), tol))
+        self.gtsamAssertEquals(values.atPose2(3), Pose2(), tol)
-        self.assertTrue(values.atRot3(4).equals(Rot3(), tol))
+        self.gtsamAssertEquals(values.atRot3(4), Rot3(), tol)
-        self.assertTrue(values.atPose3(5).equals(Pose3(), tol))
+        self.gtsamAssertEquals(values.atPose3(5), Pose3(), tol)
-        self.assertTrue(values.atCal3_S2(6).equals(Cal3_S2(), tol))
+        self.gtsamAssertEquals(values.atCal3_S2(6), Cal3_S2(), tol)
-        self.assertTrue(values.atCal3DS2(7).equals(Cal3DS2(), tol))
+        self.gtsamAssertEquals(values.atCal3DS2(7), Cal3DS2(), tol)
-        self.assertTrue(values.atCal3Bundler(8).equals(Cal3Bundler(), tol))
+        self.gtsamAssertEquals(values.atCal3Bundler(8), Cal3Bundler(), tol)
-        self.assertTrue(values.atEssentialMatrix(9).equals(E, tol))
+        self.gtsamAssertEquals(values.atEssentialMatrix(9), E, tol)
-        self.assertTrue(values.atimuBias_ConstantBias(
+        self.gtsamAssertEquals(values.atimuBias_ConstantBias(
-            10).equals(imuBias_ConstantBias(), tol))
+            10), imuBias_ConstantBias(), tol)
 
         # special cases for Vector and Matrix:
         actualVector = values.atVector(11)
-        self.assertTrue(np.allclose(vec, actualVector, tol))
+        np.testing.assert_allclose(vec, actualVector, tol)
         actualMatrix = values.atMatrix(12)
-        self.assertTrue(np.allclose(mat, actualMatrix, tol))
+        np.testing.assert_allclose(mat, actualMatrix, tol)
         actualMatrix2 = values.atMatrix(13)
-        self.assertTrue(np.allclose(mat2, actualMatrix2, tol))
+        np.testing.assert_allclose(mat2, actualMatrix2, tol)
 
 
 if __name__ == "__main__":

cython/gtsam/tests/test_VisualISAMExample.py

@@ -1,10 +1,25 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+visual_isam unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
+
 import numpy as np
-from gtsam import symbol
+
+import gtsam
 import gtsam.utils.visual_data_generator as generator
 import gtsam.utils.visual_isam as visual_isam
+from gtsam import symbol
+from gtsam.utils.test_case import GtsamTestCase
 
-class TestVisualISAMExample(unittest.TestCase):
+
+class TestVisualISAMExample(GtsamTestCase):
 
     def test_VisualISAMExample(self):
         # Data Options
@@ -32,11 +47,11 @@ class TestVisualISAMExample(unittest.TestCase):
 
         for i in range(len(truth.cameras)):
             pose_i = result.atPose3(symbol(ord('x'), i))
-            self.assertTrue(pose_i.equals(truth.cameras[i].pose(), 1e-5))
+            self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
 
         for j in range(len(truth.points)):
             point_j = result.atPoint3(symbol(ord('l'), j))
-            self.assertTrue(point_j.equals(truth.points[j], 1e-5))
+            self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
 
 if __name__ == "__main__":
     unittest.main()

cython/gtsam/tests/test_dataset.py

@@ -6,7 +6,7 @@ All Rights Reserved
 See LICENSE for the license information
 
 Unit tests for testing dataset access.
-Author: Frank Dellaert
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
 """
 # pylint: disable=invalid-name, no-name-in-module, no-member
 
@@ -16,9 +16,10 @@ import unittest
 
 import gtsam
 from gtsam import BetweenFactorPose3, BetweenFactorPose3s
+from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestDataset(unittest.TestCase):
+class TestDataset(GtsamTestCase):
     """Tests for datasets.h wrapper."""
 
     def setUp(self):

cython/gtsam/tests/test_initialize_pose3.py

@@ -15,11 +15,12 @@ import numpy as np
 
 import gtsam
 from gtsam import NonlinearFactorGraph, Point3, Pose3, Rot3, Values
+from gtsam.utils.test_case import GtsamTestCase
 
 x0, x1, x2, x3 = 0, 1, 2, 3
 
 
-class TestValues(unittest.TestCase):
+class TestValues(GtsamTestCase):
 
     def setUp(self):
 
@@ -67,10 +68,10 @@ class TestValues(unittest.TestCase):
         initial = gtsam.InitializePose3.computeOrientationsChordal(pose3Graph)
 
         # comparison is up to M_PI, that's why we add some multiples of 2*M_PI
-        self.assertTrue(initial.atRot3(x0).equals(self.R0, 1e-6))
+        self.gtsamAssertEquals(initial.atRot3(x0), self.R0, 1e-6)
-        self.assertTrue(initial.atRot3(x1).equals(self.R1, 1e-6))
+        self.gtsamAssertEquals(initial.atRot3(x1), self.R1, 1e-6)
-        self.assertTrue(initial.atRot3(x2).equals(self.R2, 1e-6))
+        self.gtsamAssertEquals(initial.atRot3(x2), self.R2, 1e-6)
-        self.assertTrue(initial.atRot3(x3).equals(self.R3, 1e-6))
+        self.gtsamAssertEquals(initial.atRot3(x3), self.R3, 1e-6)
 
     def test_initializePoses(self):
         g2oFile = gtsam.findExampleDataFile("pose3example-grid")
@@ -81,7 +82,7 @@ class TestValues(unittest.TestCase):
 
         initial = gtsam.InitializePose3.initialize(inputGraph)
         # TODO(frank): very loose !!
-        self.assertTrue(initial.equals(expectedValues, 0.1))
+        self.gtsamAssertEquals(initial, expectedValues, 0.1)
 
 
 if __name__ == "__main__":

cython/gtsam_unstable/tests/test_FixedLagSmootherExample.py

@@ -1,7 +1,20 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Cal3Unified unit tests.
+Author: Frank Dellaert & Duy Nguyen Ta (Python)
+"""
 import unittest
+
+import numpy as np
+
 import gtsam
 import gtsam_unstable
-import numpy as np
+from gtsam.utils.test_case import GtsamTestCase
 
 
 def _timestamp_key_value(key, value):
@@ -10,7 +23,7 @@ def _timestamp_key_value(key, value):
     )
 
 
-class TestFixedLagSmootherExample(unittest.TestCase):
+class TestFixedLagSmootherExample(GtsamTestCase):
     '''
     Tests the fixed lag smoother wrapper
     '''