def test_codegen(self):
stream = sophus.cse_codegen(self.a.calc_Dx_exp_x(self.upsilon_omega))
filename = "cpp_gencode/Se3_Dx_exp_x.cpp"
# set to true to generate codegen files
if True:
file = open(filename, "w")
for line in stream:
file.write(line)
file.close()
else:
file = open(filename, "r")
file_lines = file.readlines()
for i, line in enumerate(stream):
self.assertEqual(line, file_lines[i])
file.close()
stream.close
stream = sophus.cse_codegen(self.a.calc_Dx_this_mul_exp_x_at_0(
self.upsilon_omega))
filename = "cpp_gencode/Se3_Dx_this_mul_exp_x_at_0.cpp"
# set to true to generate codegen files
if True:
file = open(filename, "w")
for line in stream:
file.write(line)
file.close()
else:
file = open(filename, "r")
file_lines = file.readlines()
for i, line in enumerate(stream):
self.assertEqual(line, file_lines[i])
file.close()
stream.close
def test_codegen(self):
stream = sophus.cse_codegen(So2.calc_Dx_exp_x(self.theta))
filename = "cpp_gencode/So2_Dx_exp_x.cpp"
# set to true to generate codegen files
if False:
file = open(filename, "w")
for line in stream:
file.write(line)
file.close()
else:
file = open(filename, "r")
file_lines = file.readlines()
for i, line in enumerate(stream):
self.assertEqual(line, file_lines[i])
file.close()
stream.close
