def check_pi_test(): for g, w in known_pairs: w2 = se2_from_SE2(g) # printm('g', g, 'w', w, 'w2', w2) assert_allclose(w, w2, atol=1e-8) g2 = SE2_from_se2(w2) assert_allclose(g, g2, atol=1e-8)
def comparison_test_2(): ''' Compares between se2_from_SE2 and se2_from_SE2_slow. ''' for pose in SE2.interesting_points(): se2a = se2_from_SE2(pose) se2b = se2_from_SE2_slow(pose) #printm('pose', pose, 'se2a', se2a, 'se2b', se2b) assert_allclose(se2a, se2b, atol=1e-8)
def comparison_test(): ''' Compares between SE2_from_se2_slow and SE2_from_se2. ''' for pose in SE2.interesting_points(): se2 = se2_from_SE2(pose) SE2a = SE2_from_se2_slow(se2) SE2b = SE2_from_se2(se2) #printm('pose', pose, 'se2', se2) #printm('SE2a', SE2a, 'SE2b', SE2b) SE2.assert_close(SE2a, pose) #print('SE2a = pose Their distance is %f' % d) SE2.assert_close(SE2b, pose) #print('SE2b = pose Their distance is %f' % d) assert_allclose(SE2a, SE2b, atol=1e-8, err_msg='SE2a != SE2b') assert_allclose(SE2a, pose, atol=1e-8, err_msg='SE2a != pose') assert_allclose(SE2b, pose, atol=1e-8, err_msg='SE2b != pose')