Public Member Functions | List of all members
test_Sim2.TestSim2 Class Reference
Inheritance diagram for test_Sim2.TestSim2:
Inheritance graph
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Public Member Functions

None test_align_poses_along_straight_line (self)
 
def test_align_poses_along_straight_line_gauge (self)
 
def test_align_poses_scaled_squares (self)
 
None test_constructor (self)
 
None test_is_eq (self)
 
None test_not_eq_rotation (self)
 
None test_not_eq_scale (self)
 
None test_not_eq_translation (self)
 
None test_rotation (self)
 
None test_scale (self)
 
None test_translation (self)
 
- Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
None assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9)
 
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()

None test_Sim2.TestSim2.test_align_poses_along_straight_line (   self)
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()

None test_Sim2.TestSim2.test_constructor (   self)
Sim(2) to perform p_b = bSa * p_a

Definition at line 131 of file test_Sim2.py.

◆ test_is_eq()

None test_Sim2.TestSim2.test_is_eq (   self)
Ensure object equality works properly (are equal).

Definition at line 142 of file test_Sim2.py.

◆ test_not_eq_rotation()

None test_Sim2.TestSim2.test_not_eq_rotation (   self)
Ensure object equality works properly (not equal rotation).

Definition at line 154 of file test_Sim2.py.

◆ test_not_eq_scale()

None test_Sim2.TestSim2.test_not_eq_scale (   self)
Ensure object equality works properly (not equal scale).

Definition at line 160 of file test_Sim2.py.

◆ test_not_eq_translation()

None test_Sim2.TestSim2.test_not_eq_translation (   self)
Ensure object equality works properly (not equal translation).

Definition at line 148 of file test_Sim2.py.

◆ test_rotation()

None test_Sim2.TestSim2.test_rotation (   self)
Ensure rotation component is returned properly.

Definition at line 166 of file test_Sim2.py.

◆ test_scale()

None test_Sim2.TestSim2.test_scale (   self)
Ensure the scale factor is returned properly.

Definition at line 185 of file test_Sim2.py.

◆ test_translation()

None test_Sim2.TestSim2.test_translation (   self)
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:


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:53:19