python tests

python/gtsam/tests/test_Serialization.py

@@ -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()