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 | |
def | assertDeepCopyEquality (self, obj) |
None | assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9) |
def | gtsamAssertEquals (self, actual, expected, tol=1e-9) |
Test selected Sim2 methods.
Definition at line 20 of file test_Sim2.py.
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.
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.
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.
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.
None test_Sim2.TestSim2.test_is_eq | ( | self | ) |
Ensure object equality works properly (are equal).
Definition at line 142 of file test_Sim2.py.
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.
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.
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.
None test_Sim2.TestSim2.test_rotation | ( | self | ) |
Ensure rotation component is returned properly.
Definition at line 166 of file test_Sim2.py.
None test_Sim2.TestSim2.test_scale | ( | self | ) |
Ensure the scale factor is returned properly.
Definition at line 185 of file test_Sim2.py.
None test_Sim2.TestSim2.test_translation | ( | self | ) |
Ensure translation component is returned properly.
Definition at line 176 of file test_Sim2.py.