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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Unit tests for Hybrid Nonlinear Factor Graphs.
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Author: Fan Jiang
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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 TestHybridGaussianFactorGraph(GtsamTestCase):
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"""Unit tests for HybridGaussianFactorGraph."""
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def test_nonlinear_hybrid(self):
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nlfg = gtsam.HybridNonlinearFactorGraph()
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dk = gtsam.DiscreteKeys()
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dk.push_back((10, 2))
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nlfg.add(gtsam.BetweenFactorPoint3(1, 2, gtsam.Point3(1, 2, 3), gtsam.noiseModel.Diagonal.Variances([1, 1, 1])))
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nlfg.add(
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gtsam.PriorFactorPoint3(2, gtsam.Point3(1, 2, 3), gtsam.noiseModel.Diagonal.Variances([0.5, 0.5, 0.5])))
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nlfg.push_back(
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gtsam.MixtureFactor([1], dk, [
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gtsam.PriorFactorPoint3(1, gtsam.Point3(0, 0, 0),
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gtsam.noiseModel.Unit.Create(3)),
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gtsam.PriorFactorPoint3(1, gtsam.Point3(1, 2, 1),
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gtsam.noiseModel.Unit.Create(3))
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]))
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nlfg.add(gtsam.DecisionTreeFactor((10, 2), "1 3"))
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values = gtsam.Values()
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values.insert_point3(1, gtsam.Point3(0, 0, 0))
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values.insert_point3(2, gtsam.Point3(2, 3, 1))
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hfg = nlfg.linearize(values)
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o = gtsam.Ordering()
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o.push_back(1)
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o.push_back(2)
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o.push_back(10)
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hbn = hfg.eliminateSequential(o)
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hbv = hbn.optimize()
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self.assertEqual(hbv.atDiscrete(10), 0)
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if __name__ == "__main__":
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unittest.main()
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