53 lines
1.7 KiB
Python
53 lines
1.7 KiB
Python
"""
|
|
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
|
|
Atlanta, Georgia 30332-0415
|
|
All Rights Reserved
|
|
|
|
See LICENSE for the license information
|
|
|
|
Unit tests for Hybrid Nonlinear Factor Graphs.
|
|
Author: Fan Jiang
|
|
"""
|
|
# pylint: disable=invalid-name, no-name-in-module, no-member
|
|
|
|
from __future__ import print_function
|
|
|
|
import unittest
|
|
|
|
from gtsam.utils.test_case import GtsamTestCase
|
|
|
|
import gtsam
|
|
from gtsam import BetweenFactorPoint3, Point3, PriorFactorPoint3, noiseModel
|
|
|
|
|
|
class TestHybridGaussianFactorGraph(GtsamTestCase):
|
|
"""Unit tests for HybridGaussianFactorGraph."""
|
|
|
|
def test_nonlinear_hybrid(self):
|
|
nlfg = gtsam.HybridNonlinearFactorGraph()
|
|
nlfg.push_back(
|
|
BetweenFactorPoint3(1, 2, Point3(1, 2, 3),
|
|
noiseModel.Diagonal.Variances([1, 1, 1])))
|
|
nlfg.push_back(
|
|
PriorFactorPoint3(2, Point3(1, 2, 3),
|
|
noiseModel.Diagonal.Variances([0.5, 0.5, 0.5])))
|
|
|
|
factors = [(PriorFactorPoint3(1, Point3(0, 0, 0),
|
|
noiseModel.Unit.Create(3)), 0.0),
|
|
(PriorFactorPoint3(1, Point3(1, 2, 1),
|
|
noiseModel.Unit.Create(3)), 0.0)]
|
|
mode = (10, 2)
|
|
nlfg.push_back(gtsam.HybridNonlinearFactor(mode, factors))
|
|
nlfg.push_back(gtsam.DecisionTreeFactor(mode, "1 3"))
|
|
values = gtsam.Values()
|
|
values.insert_point3(1, Point3(0, 0, 0))
|
|
values.insert_point3(2, Point3(2, 3, 1))
|
|
hfg = nlfg.linearize(values)
|
|
hbn = hfg.eliminateSequential()
|
|
hbv = hbn.optimize()
|
|
self.assertEqual(hbv.atDiscrete(10), 0)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|