Python SE2.Random Examples

Example #1

def test_Compose():
    state = SE2.Random()
    other = SE2.Random()

    assert state.compose(other) == state * other
    assert state.compose(SE2.Identity()) == state
    assert SE2.Identity().compose(state) == state
    assert SE2.Identity() == state.compose(state.inverse())
    assert SE2.Identity() == state.inverse().compose(state)

Example #2

def test_plus():
    state = SE2.Random()
    delta = SE2Tangent.Random()

    assert state.plus(delta) == (state + delta)
    assert state.plus(delta) == state.rplus(delta)

Example #3

def test_LogExp():
    state = SE2.Random()
    assert state == state.log().exp()