test_HybridValues.py

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"""
GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
 
See LICENSE for the license information
 
Unit tests for Hybrid Values.
Author: Shangjie Xue
"""
# pylint: disable=invalid-name, no-name-in-module, no-member
 
from __future__ import print_function
 
import unittest
 
import numpy as np
from gtsam.symbol_shorthand import C, X
from gtsam.utils.test_case import GtsamTestCase
 
import gtsam
 
 
class TestHybridValues(GtsamTestCase):
    """Unit tests for HybridValues."""
 
    def test_basic(self):
        """Test construction and basic methods of hybrid values."""
 
        hv1 = gtsam.HybridValues()
        hv1.insert(X(0), np.ones((3, 1)))
        hv1.insert(C(0), 2)
 
        hv2 = gtsam.HybridValues()
        hv2.insert(C(0), 2)
        hv2.insert(X(0), np.ones((3, 1)))
 
        self.assertEqual(hv1.atDiscrete(C(0)), 2)
        self.assertEqual(hv1.at(X(0))[0], np.ones((3, 1))[0])
 
 
if __name__ == "__main__":
    unittest.main()