def test_get_infos(self): helpers.fake_trajectory(10, 1).get_infos()
def test_check(self): self.assertTrue(helpers.fake_trajectory(10, 1).check()[0]) wrong_traj = helpers.fake_trajectory(10, 1) wrong_traj.timestamps[0] = 666 self.assertFalse(wrong_traj.check()[0])
def test_reduce_to_ids(self): traj = helpers.fake_trajectory(10, 1) traj.reduce_to_ids([0, 2]) self.assertEqual(traj.num_poses, 2) self.assertEqual(len(traj.timestamps), 2)
def test_no_matches_due_to_offset(self): traj_1 = helpers.fake_trajectory(10, 0.1, start_time=0.) traj_2 = helpers.fake_trajectory(10, 0.1, start_time=2.) with self.assertRaises(sync.SyncException): sync.associate_trajectories(traj_1, traj_2)
def test_origin_alignment(self): traj_1 = helpers.fake_trajectory(1000, 1) traj_2 = helpers.fake_trajectory(1000, 1) self.assertFalse(np.allclose(traj_1.poses_se3[0], traj_2.poses_se3[0])) traj_2 = trajectory.align_trajectory_origin(traj_2, traj_1) self.assertTrue(np.allclose(traj_1.poses_se3[0], traj_2.poses_se3[0]))
def test_get_statistics(self): helpers.fake_trajectory(10, 1).get_statistics()