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added test for ordering in Python

release/4.3a0
Varun Agrawal 2022-03-11 08:42:40 -05:00
parent b9f6d67fc7
commit ebc75e3a8d
1 changed files with 22 additions and 5 deletions
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27
python/gtsam/tests/test_GaussianFactorGraph.py
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@ -23,23 +23,23 @@ from gtsam.utils.test_case import GtsamTestCase
def create_graph(): def create_graph():
"""Create a basic linear factor graph for testing""" """Create a basic linear factor graph for testing"""
graph = gtsam.GaussianFactorGraph() graph = gtsam.GaussianFactorGraph()
x0 = X(0) x0 = X(0)
x1 = X(1) x1 = X(1)
x2 = X(2) x2 = X(2)
BETWEEN_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.ones(1)) BETWEEN_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.ones(1))
PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.ones(1)) PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.ones(1))
graph.add(x1, np.eye(1), x0, -np.eye(1), np.ones(1), BETWEEN_NOISE) graph.add(x1, np.eye(1), x0, -np.eye(1), np.ones(1), BETWEEN_NOISE)
graph.add(x2, np.eye(1), x1, -np.eye(1), 2*np.ones(1), BETWEEN_NOISE) graph.add(x2, np.eye(1), x1, -np.eye(1), 2 * np.ones(1), BETWEEN_NOISE)
graph.add(x0, np.eye(1), np.zeros(1), PRIOR_NOISE) graph.add(x0, np.eye(1), np.zeros(1), PRIOR_NOISE)
return graph, (x0, x1, x2) return graph, (x0, x1, x2)
class TestGaussianFactorGraph(GtsamTestCase): class TestGaussianFactorGraph(GtsamTestCase):
"""Tests for Gaussian Factor Graphs.""" """Tests for Gaussian Factor Graphs."""
def test_fg(self): def test_fg(self):
"""Test solving a linear factor graph""" """Test solving a linear factor graph"""
graph, X = create_graph() graph, X = create_graph()
@ -71,7 +71,7 @@ class TestGaussianFactorGraph(GtsamTestCase):
self.assertAlmostEqual(EXPECTEDM[0], m[0], delta=1e-8) self.assertAlmostEqual(EXPECTEDM[0], m[0], delta=1e-8)
self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8) self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8)
self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8) self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8)
def test_linearMarginalization(self): def test_linearMarginalization(self):
"""Marginalize a linear factor graph""" """Marginalize a linear factor graph"""
graph, X = create_graph() graph, X = create_graph()
@ -88,5 +88,22 @@ class TestGaussianFactorGraph(GtsamTestCase):
self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8) self.assertAlmostEqual(EXPECTEDM[1], m[1], delta=1e-8)
self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8) self.assertAlmostEqual(EXPECTEDM[2], m[2], delta=1e-8)
def test_ordering(self):
"""Test ordering"""
gfg, keys = create_graph()
ordering = gtsam.Ordering()
for key in keys[::-1]:
ordering.push_back(key)
bn = gfg.eliminateSequential(ordering)
self.assertEqual(bn.size(), 3)
keyVector = gtsam.KeyVector()
keyVector.append(keys[2])
ordering = gtsam.Ordering.ColamdConstrainedLastGaussianFactorGraph(gfg, keyVector)
bn = gfg.eliminateSequential(ordering)
self.assertEqual(bn.size(), 3)
if __name__ == '__main__': if __name__ == '__main__':
unittest.main() unittest.main()