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update python wrapper

release/4.3a0
Gerry Chen 2021-11-10 19:01:31 -05:00
parent 508db60f74
commit d86fc98706
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2 changed files with 12 additions and 1 deletions
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3
gtsam/geometry/geometry.i
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@ -473,6 +473,9 @@ class Pose3 {
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
Vector AdjointTranspose(Vector xi) const;
static Matrix adjointMap(Vector xi);
static Vector adjoint(Vector xi, Vector y);
static Matrix adjointMap_(Vector xi);
static Vector adjoint_(Vector xi, Vector y);
static Vector adjointTranspose(Vector xi, Vector y);

10
python/gtsam/tests/test_Pose3.py
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@ -59,8 +59,16 @@ class TestPose3(GtsamTestCase):
self.assertEqual(math.sqrt(2.0), x1.range(pose=xl2))
def test_adjoint(self):
"""Test adjoint method."""
"""Test adjoint methods."""
T = Pose3()
xi = np.array([1, 2, 3, 4, 5, 6])
# test calling functions
T.AdjointMap()
T.Adjoint(xi)
T.AdjointTranspose(xi)
Pose3.adjointMap(xi)
Pose3.adjoint(xi, xi)
# test correctness of adjoint(x, y)
expected = np.dot(Pose3.adjointMap_(xi), xi)
actual = Pose3.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)