43 lines
998 B
Python
43 lines
998 B
Python
"""
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GTSAM Copyright 2010-2022, 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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Unit tests for Hybrid Values.
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Author: Shangjie Xue
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"""
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# pylint: disable=invalid-name, no-name-in-module, no-member
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from __future__ import print_function
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import unittest
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import gtsam
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import numpy as np
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from gtsam.symbol_shorthand import C, X
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from gtsam.utils.test_case import GtsamTestCase
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class TestHybridValues(GtsamTestCase):
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"""Unit tests for HybridValues."""
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def test_basic(self):
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"""Test construction and basic methods of hybrid values."""
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hv1 = gtsam.HybridValues()
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hv1.insert(X(0), np.ones((3, 1)))
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hv1.insert(C(0), 2)
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hv2 = gtsam.HybridValues()
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hv2.insert(C(0), 2)
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hv2.insert(X(0), np.ones((3, 1)))
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self.assertEqual(hv1.atDiscrete(C(0)), 2)
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self.assertEqual(hv1.at(X(0))[0], np.ones((3, 1))[0])
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if __name__ == "__main__":
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unittest.main()
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