87 lines
2.5 KiB
Python
87 lines
2.5 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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CustomFactor unit tests.
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Author: Fan Jiang
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"""
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from typing import List
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import unittest
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from gtsam import Values, Pose2, CustomFactor
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import numpy as np
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import gtsam
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from gtsam.utils.test_case import GtsamTestCase
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class TestCustomFactor(GtsamTestCase):
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def test_new(self):
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def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
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return np.array([1, 0, 0])
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noise_model = gtsam.noiseModel.Unit.Create(3)
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cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func)
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def test_call(self):
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expected_pose = Pose2(1, 1, 0)
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def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -> np.ndarray:
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key0 = this.keys()[0]
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error = -v.atPose2(key0).localCoordinates(expected_pose)
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return error
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noise_model = gtsam.noiseModel.Unit.Create(3)
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cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func)
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v = Values()
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v.insert(0, Pose2(1, 0, 0))
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e = cf.error(v)
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self.assertEqual(e, 0.5)
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def test_jacobian(self):
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"""Tests if the factor result matches the GTSAM Pose2 unit test"""
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gT1 = Pose2(1, 2, np.pi/2)
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gT2 = Pose2(-1, 4, np.pi)
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expected = Pose2(2, 2, np.pi/2)
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def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
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# print(f"{this = },\n{v = },\n{len(H) = }")
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key0 = this.keys()[0]
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key1 = this.keys()[1]
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gT1, gT2 = v.atPose2(key0), v.atPose2(key1)
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error = Pose2(0, 0, 0).localCoordinates(gT1.between(gT2))
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if len(H) > 0:
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result = gT1.between(gT2)
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H[0] = -result.inverse().AdjointMap()
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H[1] = np.eye(3)
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return error
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noise_model = gtsam.noiseModel.Unit.Create(3)
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cf = CustomFactor(noise_model, gtsam.KeyVector([0, 1]), error_func)
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v = Values()
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v.insert(0, gT1)
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v.insert(1, gT2)
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bf = gtsam.BetweenFactorPose2(0, 1, Pose2(0, 0, 0), noise_model)
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gf = cf.linearize(v)
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gf_b = bf.linearize(v)
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J_cf, b_cf = gf.jacobian()
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J_bf, b_bf = gf_b.jacobian()
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np.testing.assert_allclose(J_cf, J_bf)
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np.testing.assert_allclose(b_cf, b_bf)
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if __name__ == "__main__":
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unittest.main()
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