From d48b7371bb4a0f019168f54b98079110b4500076 Mon Sep 17 00:00:00 2001 From: John Lambert Date: Fri, 22 Oct 2021 15:05:05 -0400 Subject: [PATCH] use Point3 instead of artificial vector3 --- python/gtsam/tests/test_lago.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/python/gtsam/tests/test_lago.py b/python/gtsam/tests/test_lago.py index 5b836ccdf..8ed5dd943 100644 --- a/python/gtsam/tests/test_lago.py +++ b/python/gtsam/tests/test_lago.py @@ -13,12 +13,7 @@ import unittest import numpy as np import gtsam -from gtsam import Pose2, PriorFactorPose2, Values - - -def vector3(x: float, y: float, z: float) -> np.ndarray: - """Create 3d double numpy array.""" - return np.array([x, y, z], dtype=float) +from gtsam import Point3, Pose2, PriorFactorPose2, Values class TestLago(unittest.TestCase): @@ -32,7 +27,7 @@ class TestLago(unittest.TestCase): graph, initial = gtsam.readG2o(g2oFile) # Add prior on the pose having index (key) = 0 - priorModel = gtsam.noiseModel.Diagonal.Variances(vector3(1e-6, 1e-6, 1e-8)) + priorModel = gtsam.noiseModel.Diagonal.Variances(Point3(1e-6, 1e-6, 1e-8)) graph.add(PriorFactorPose2(0, Pose2(), priorModel)) estimateLago: Values = gtsam.lago.initialize(graph)