26 lines
723 B
Python
26 lines
723 B
Python
import unittest
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import gtsam
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import numpy as np
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class TestPriorFactor(unittest.TestCase):
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def test_PriorFactor(self):
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values = gtsam.Values()
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key = 5
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priorPose3 = gtsam.Pose3()
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model = gtsam.noiseModel_Unit.Create(6)
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factor = gtsam.PriorFactorPose3(key, priorPose3, model)
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values.insert(key, priorPose3)
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self.assertEqual(factor.error(values), 0)
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key = 3
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priorVector = np.array([0., 0., 0.])
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model = gtsam.noiseModel_Unit.Create(3)
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factor = gtsam.PriorFactorVector(key, priorVector, model)
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values.insert(key, priorVector)
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self.assertEqual(factor.error(values), 0)
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if __name__ == "__main__":
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unittest.main()
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