Inheritance diagram for test_Sim2.TestSim2:

Public Member Functions
def	test_align_poses_along_straight_line (self)

def	test_align_poses_along_straight_line_gauge (self)

def	test_align_poses_scaled_squares (self)

def	test_constructor (self)

def	test_is_eq (self)

def	test_not_eq_rotation (self)

def	test_not_eq_scale (self)

def	test_not_eq_translation (self)

def	test_rotation (self)

def	test_scale (self)

def	test_translation (self)

Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def	assertEqualityOnPickleRoundtrip

def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Detailed Description

Test selected Sim2 methods.

Definition at line 20 of file test_Sim2.py.

Member Function Documentation

◆ test_align_poses_along_straight_line()

def test_Sim2.TestSim2.test_align_poses_along_straight_line	(	self,
		None
	)

Test Align of list of Pose2Pair.

Scenario:
   3 object poses
   same scale (no gauge ambiguity)
   world frame has poses rotated about 180 degrees.
   world and egovehicle frame translated by 15 meters w.r.t. each other

Definition at line 23 of file test_Sim2.py.

◆ test_align_poses_along_straight_line_gauge()

def test_Sim2.TestSim2.test_align_poses_along_straight_line_gauge ( self )

Test if Pose2 Align method can account for gauge ambiguity.

Scenario:
   3 object poses
   with gauge ambiguity (2x scale)
   world frame has poses rotated by 90 degrees.
   world and egovehicle frame translated by 11 meters w.r.t. each other

Definition at line 58 of file test_Sim2.py.

◆ test_align_poses_scaled_squares()

def test_Sim2.TestSim2.test_align_poses_scaled_squares ( self )

Test if Align method can account for gauge ambiguity.

Make sure a big and small square can be aligned.
The u's represent a big square (10x10), and v's represents a small square (4x4).

Scenario:
   4 object poses
   with gauge ambiguity (2.5x scale)

Definition at line 93 of file test_Sim2.py.

◆ test_constructor()

def test_Sim2.TestSim2.test_constructor	(	self,
		None
	)

Sim(2) to perform p_b = bSa * p_a

Definition at line 131 of file test_Sim2.py.

◆ test_is_eq()

def test_Sim2.TestSim2.test_is_eq	(	self,
		None
	)

Ensure object equality works properly (are equal).

Definition at line 142 of file test_Sim2.py.

◆ test_not_eq_rotation()

def test_Sim2.TestSim2.test_not_eq_rotation	(	self,
		None
	)

Ensure object equality works properly (not equal rotation).

Definition at line 154 of file test_Sim2.py.

◆ test_not_eq_scale()

def test_Sim2.TestSim2.test_not_eq_scale	(	self,
		None
	)

Ensure object equality works properly (not equal scale).

Definition at line 160 of file test_Sim2.py.

◆ test_not_eq_translation()

def test_Sim2.TestSim2.test_not_eq_translation	(	self,
		None
	)

Ensure object equality works properly (not equal translation).

Definition at line 148 of file test_Sim2.py.

◆ test_rotation()

def test_Sim2.TestSim2.test_rotation	(	self,
		None
	)

Ensure rotation component is returned properly.

Definition at line 166 of file test_Sim2.py.

◆ test_scale()

def test_Sim2.TestSim2.test_scale	(	self,
		None
	)

Ensure the scale factor is returned properly.

Definition at line 185 of file test_Sim2.py.

◆ test_translation()

def test_Sim2.TestSim2.test_translation	(	self,
		None
	)

Ensure translation component is returned properly.

Definition at line 176 of file test_Sim2.py.

The documentation for this class was generated from the following file:

test_Sim2.py

Public Member Functions