From d7151ed28410e57526cf5286d820fc4ae089cf05 Mon Sep 17 00:00:00 2001 From: John Lambert Date: Mon, 12 Jul 2021 20:52:36 -0400 Subject: [PATCH] use mod when comparing angles --- python/gtsam/tests/test_ShonanAveraging.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/python/gtsam/tests/test_ShonanAveraging.py b/python/gtsam/tests/test_ShonanAveraging.py index 08bbe5191..8c70df5df 100644 --- a/python/gtsam/tests/test_ShonanAveraging.py +++ b/python/gtsam/tests/test_ShonanAveraging.py @@ -197,7 +197,9 @@ class TestShonanAveraging(GtsamTestCase): wRi_list = [result_values.atRot2(i) for i in range(num_images)] thetas_deg = np.array([wRi.degrees() for wRi in wRi_list]) thetas_deg -= max(thetas_deg) - expected_thetas_deg = np.array([0.0, -270.0, 0.0]) + # map all angles to [0,360) + thetas_deg = thetas_deg % 360 + expected_thetas_deg = np.array([0.0, 90.0, 0.0]) np.testing.assert_allclose(thetas_deg, expected_thetas_deg)