22 lines
457 B
Python
22 lines
457 B
Python
"""Pose2 unit tests."""
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import unittest
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import numpy as np
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from gtsam import Pose2
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class TestPose2(unittest.TestCase):
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"""Test selected Pose2 methods."""
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def test_adjoint(self):
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"""Test adjoint method."""
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xi = np.array([1, 2, 3])
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expected = np.dot(Pose2.adjointMap_(xi), xi)
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actual = Pose2.adjoint_(xi, xi)
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np.testing.assert_array_equal(actual, expected)
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if __name__ == "__main__":
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unittest.main()
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