56 lines
1.8 KiB
Python
56 lines
1.8 KiB
Python
"""
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GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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TestCase class with GTSAM assert utils.
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Author: Frank Dellaert
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"""
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import pickle
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import unittest
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from copy import deepcopy
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class GtsamTestCase(unittest.TestCase):
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"""TestCase class with GTSAM assert utils."""
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def gtsamAssertEquals(self, actual, expected, tol=1e-9):
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""" AssertEqual function that prints out actual and expected if not equal.
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Usage:
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self.gtsamAssertEqual(actual,expected)
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Keyword Arguments:
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tol {float} -- tolerance passed to 'equals', default 1e-9
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"""
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import numpy
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if isinstance(expected, numpy.ndarray):
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equal = numpy.allclose(actual, expected, atol=tol)
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else:
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equal = actual.equals(expected, tol)
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if not equal:
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raise self.failureException("Values are not equal:\n{}!={}".format(
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actual, expected))
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def assertEqualityOnPickleRoundtrip(self, obj: object, tol=1e-9) -> None:
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""" Performs a round-trip using pickle and asserts equality.
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Usage:
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self.assertEqualityOnPickleRoundtrip(obj)
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Keyword Arguments:
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tol {float} -- tolerance passed to 'equals', default 1e-9
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"""
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roundTripObj = pickle.loads(pickle.dumps(obj))
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self.gtsamAssertEquals(roundTripObj, obj)
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def assertDeepCopyEquality(self, obj):
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"""Perform assertion by checking if a
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deep copied version of `obj` is equal to itself.
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Args:
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obj: The object to check is deep-copyable.
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"""
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# If deep copy failed, then this will throw an error
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obj2 = deepcopy(obj)
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self.gtsamAssertEquals(obj, obj2)
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