2 GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
3 Atlanta, Georgia 30332-0415
6 See LICENSE for the license information
9 Author: Frank Dellaert & Varun Agrawal (Python)
19 Tests python binding for classes/functions in `sam.i`.
23 Test that `measured` works as expected for RangeFactor2D.
26 factor = gtsam.RangeFactor2D(1, 2, measurement,
28 self.assertEqual(measurement, factor.measured())
32 Test that `measured` works as expected for BearingFactor2D.
35 factor = gtsam.BearingFactor2D(1, 2, measurement,
41 Test that `measured` works as expected for BearingRangeFactor2D.
43 range_measurement = 10.0
45 factor = gtsam.BearingRangeFactor2D(
46 1, 2, bearing_measurement, range_measurement,
48 measurement = factor.measured()
50 self.assertEqual(range_measurement, measurement.range())
55 Test that `measured` works as expected for BearingRangeFactor3D.
58 range_measurement = 10.0
59 factor = gtsam.BearingRangeFactor3D(
60 1, 2, bearing_measurement, range_measurement,
62 measurement = factor.measured()
64 self.assertEqual(range_measurement, measurement.range())
69 Test that `measured` works as expected for BearingRangeFactorPose3.
71 range_measurement = 10.0
73 factor = gtsam.BearingRangeFactorPose3(
74 1, 2, bearing_measurement, range_measurement,
76 measurement = factor.measured()
78 self.assertEqual(range_measurement, measurement.range())
82 if __name__ ==
"__main__":