diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py index 5df7fcc0a..66339b41b 100644 --- a/python/gtsam/tests/test_NonlinearOptimizer.py +++ b/python/gtsam/tests/test_NonlinearOptimizer.py @@ -78,6 +78,12 @@ class TestScenario(GtsamTestCase): dlParams.setOrdering(ordering) actual3 = DoglegOptimizer(fg, initial_values, dlParams).optimize() self.assertAlmostEqual(0, fg.error(actual3)) + + # Graduated Non-Convexity (GNC) + gncParams = GncParams() + actual4 = GncOptimizer(fg, initial_values, gncParams).optimize() + self.assertAlmostEqual(0, fg.error(actual4)) + if __name__ == "__main__":