python tests
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				|  | @ -0,0 +1,47 @@ | |||
| """ | ||||
| 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 | ||||
| from copy import deepcopy | ||||
| 
 | ||||
| import numpy as np | ||||
| from gtsam.utils.test_case import GtsamTestCase | ||||
| 
 | ||||
| import gtsam | ||||
| 
 | ||||
| 
 | ||||
| class TestSerialization(GtsamTestCase): | ||||
|     """Tests for serialization of various GTSAM objects.""" | ||||
| 
 | ||||
|     def test_PreintegratedImuMeasurements(self): | ||||
|         """ | ||||
|         Test the serialization of `PreintegratedImuMeasurements` by performing a deepcopy. | ||||
|         """ | ||||
|         params = gtsam.PreintegrationParams(np.asarray([0, 0, -9.81])) | ||||
|         pim = gtsam.PreintegratedImuMeasurements(params) | ||||
| 
 | ||||
|         # If serialization failed, then this will throw an error | ||||
|         pim2 = deepcopy(pim) | ||||
|         self.assertEqual(pim, pim2) | ||||
| 
 | ||||
|     def test_PreintegratedCombinedMeasurements(self): | ||||
|         """ | ||||
|         Test the serialization of `PreintegratedCombinedMeasurements` by performing a deepcopy. | ||||
|         """ | ||||
|         params = gtsam.PreintegrationCombinedParams(np.asarray([0, 0, -9.81])) | ||||
|         pim = gtsam.PreintegratedCombinedMeasurements(params) | ||||
| 
 | ||||
|         # If serialization failed, then this will throw an error | ||||
|         pim2 = deepcopy(pim) | ||||
|         self.assertEqual(pim, pim2) | ||||
| 
 | ||||
| 
 | ||||
| if __name__ == "__main__": | ||||
|     unittest.main() | ||||
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