multi_sensor_unittest.py
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00001 #!/usr/bin/env python
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00033 
00034 
00035 import roslib; roslib.load_manifest('calibration_estimation')
00036 
00037 import sys
00038 import unittest
00039 import rospy
00040 import numpy
00041 import yaml
00042 
00043 import calibration_estimation.sensors.multi_sensor
00044 
00045 class TestMultiSensor(unittest.TestCase):
00046     def test_BlockDiag(self):
00047         m1 = numpy.ones([2,2])
00048         m2 = numpy.ones([1,1])*2
00049         m3 = numpy.ones([3,3])*3
00050         m_list = [m1, m2, m3]
00051 
00052         bd = numpy.matrix(calibration_estimation.sensors.multi_sensor.block_diag(m_list))
00053 
00054         self.assertEqual(bd.shape, (6,6))
00055 
00056         expected = numpy.matrix( [ [1, 1, 0, 0, 0, 0],
00057                                    [1, 1, 0, 0, 0, 0],
00058                                    [0, 0, 2, 0, 0, 0],
00059                                    [0, 0, 0, 3, 3, 3],
00060                                    [0, 0, 0, 3, 3, 3],
00061                                    [0, 0, 0, 3, 3, 3]] )
00062         self.assertAlmostEqual(numpy.linalg.norm(bd - expected), 0.0, 6)
00063 
00064 if __name__ == '__main__':
00065     import rostest
00066     rostest.unitrun('calibration_estimation', 'test_MultiSensor', TestMultiSensor)
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calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Thu Aug 15 2013 10:15:40