def test_constructor(self):
"""Test that a ``PoseR3`` instance can be created.
"""
r3a = PoseR3([1, 2, 3])
r3b = PoseR3(np.array([3, 4, 5]))
self.assertIsInstance(r3a, PoseR3)
self.assertIsInstance(r3b, PoseR3)
def test_sub(self):
"""Test that the overloaded ``__sub__`` method works as expected.
"""
r3a = PoseR3([1, 2, 3])
r3b = PoseR3([3, 4, 5])
expected = PoseR3([2, 2, 2])
self.assertAlmostEqual(
np.linalg.norm((r3b - r3a).to_array() - expected), 0.)
def test_orientation(self):
"""Test that the ``orientation`` property works as expected.
"""
r3 = PoseR3([1, 2, 3])
self.assertEqual(r3.orientation, 0.)
def test_copy(self):
"""Test that the ``copy`` method works as expected.
"""
p1 = PoseR3([1, 2, 3])
p2 = p1.copy()
p2[0] = 0
self.assertEqual(p1[0], 1)
def setUp(self):
r"""Setup a simple ``Graph`` in :math:`\mathbb{R}^3`.
"""
np.random.seed(0)
p1 = PoseR3(np.random.random_sample(3))
p2 = PoseR3(np.random.random_sample(3))
p3 = PoseR3(np.random.random_sample(3))
estimate = PoseR3([0, 0, 0])
v1 = Vertex(1, p1)
v2 = Vertex(2, p2)
v3 = Vertex(3, p3)
e1 = EdgeOdometry([1, 2], np.eye(3), estimate, [v1, v2])
e2 = EdgeOdometry([3, 2], 2 * np.eye(3), estimate, [v3, v2])
self.g = Graph([e1, e2], [v1, v2, v3])
def test_inverse(self):
"""Test that the ``inverse`` property works as expected.
"""
r3 = PoseR3([1, 2, 3])
true_inv = np.array([-1, -2, -3])
self.assertAlmostEqual(
np.linalg.norm(r3.inverse.to_array() - true_inv), 0.)
def test_to_compact(self):
"""Test that the ``to_compact`` method works as expected.
"""
r3 = PoseR3([1, 2, 3])
arr = r3.to_compact()
self.assertIsInstance(arr, np.ndarray)
self.assertNotIsInstance(arr, PoseR3)
self.assertAlmostEqual(np.linalg.norm(arr - np.array([1, 2, 3])), 0.)
def test_position(self):
"""Test that the ``position`` property works as expected.
"""
r3 = PoseR3([1, 2, 3])
pos = r3.position
true_pos = np.array([1, 2, 3])
self.assertIsInstance(pos, np.ndarray)
self.assertNotIsInstance(pos, PoseR3)
self.assertAlmostEqual(np.linalg.norm(true_pos - pos), 0.)
def test_jacobian_self_ominus_other_compact(self):
"""Test that the ``jacobian_self_ominus_other_wrt_self_compact`` and ``jacobian_self_ominus_other_wrt_other_compact`` methods are correctly implemented.
"""
np.random.seed(0)
for _ in range(10):
p1 = PoseR3(np.random.random_sample(3))
p2 = PoseR3(np.random.random_sample(3))
v1 = Vertex(1, p1)
v2 = Vertex(2, p2)
e = EdgeOMinusCompact([1, 2], np.eye(3), np.zeros(3), [v1, v2])
numerical_jacobians = BaseEdge.calc_jacobians(e)
analytical_jacobians = e.calc_jacobians()
self.assertEqual(len(numerical_jacobians),
len(analytical_jacobians))
for n, a in zip(numerical_jacobians, analytical_jacobians):
self.assertAlmostEqual(np.linalg.norm(n - a), 0.)
def test_plot(self):
"""Test that the ``plot`` method is not implemented.
"""
v_none = Vertex(0, None)
v_r2 = Vertex(1, PoseR2([1, 2]))
v_se2 = Vertex(2, PoseSE2([1, 2], 3))
v_r3 = Vertex(3, PoseR3([1, 2, 3]))
v_se3 = Vertex(4, PoseSE3([1, 2, 3], [0.5, 0.5, 0.5, 0.5]))
with self.assertRaises(NotImplementedError):
e = EdgeOdometry(0, 1, 0, [v_none, v_none])
e.plot()
for v in [v_r2, v_se2, v_r3, v_se3]:
e = EdgeOdometry(0, 1, 0, [v, v])
e.plot()
def test_plot(self):
"""Test that a ``Vertex`` can be plotted.
"""
v_none = Vertex(0, None)
v_r2 = Vertex(1, PoseR2([1, 2]))
v_se2 = Vertex(2, PoseSE2([1, 2], 3))
v_r3 = Vertex(3, PoseR3([1, 2, 3]))
v_se3 = Vertex(4, PoseSE3([1, 2, 3], [0.5, 0.5, 0.5, 0.5]))
with self.assertRaises(NotImplementedError):
v_none.plot()
for v in [v_r2, v_se2, v_r3, v_se3]:
fig = plt.figure()
if len(v.pose.position) == 3:
fig.add_subplot(111, projection='3d')
v.plot()