multi_sensor_unittest.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('calibration_estimation')

import sys
import unittest
import rospy
import numpy
import yaml

import calibration_estimation.sensors.multi_sensor

class TestMultiSensor(unittest.TestCase):
    def test_BlockDiag(self):
        m1 = numpy.ones([2,2])
        m2 = numpy.ones([1,1])*2
        m3 = numpy.ones([3,3])*3
        m_list = [m1, m2, m3]

        bd = numpy.matrix(calibration_estimation.sensors.multi_sensor.block_diag(m_list))

        self.assertEqual(bd.shape, (6,6))

        expected = numpy.matrix( [ [1, 1, 0, 0, 0, 0],
                                   [1, 1, 0, 0, 0, 0],
                                   [0, 0, 2, 0, 0, 0],
                                   [0, 0, 0, 3, 3, 3],
                                   [0, 0, 0, 3, 3, 3],
                                   [0, 0, 0, 3, 3, 3]] )
        self.assertAlmostEqual(numpy.linalg.norm(bd - expected), 0.0, 6)

if __name__ == '__main__':
    import rostest
    rostest.unitrun('calibration_estimation', 'test_MultiSensor', TestMultiSensor)