basic experiments for testing the wrapper

cython/test/experiments.py

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+"""
+This file contains small experiments to test the wrapper with gtsam_short,
+not real unittests. Its name convention is different from other tests so it
+won't be discovered.
+"""
+from gtsam.gtsam import *
+import numpy as np
+from gtsam_utils import Vector, Matrix
+
+r = Rot3()
+print(r)
+print(r.pitch())
+r2 = Rot3()
+r3 = r.compose(r2)
+print("r3 pitch:", r3.pitch())
+
+v = Vector(1, 1, 1) 
+print("v = ", v)
+r4 = r3.retract(v)
+print("r4 pitch:", r4.pitch())
+r4.print_(b'r4: ')
+r3.print_(b"r3: ")
+
+v = r3.localCoordinates(r4)
+print("localCoordinates:", v)
+
+Rmat = np.array([
+    [0.990074, -0.0942928, 0.104218], 
+    [0.104218,  0.990074, -0.0942928], 
+    [-0.0942928, 0.104218, 0.990074]
+    ])
+r5 = Rot3(Rmat)
+r5.print_(b"r5: ")
+
+l = Rot3.Logmap(r5)
+print("l = ", l)
+
+
+noise = noiseModel_Gaussian.Covariance(Rmat)
+noise.print_(b"noise:")
+
+D = np.array([1.,2.,3.])
+diag = noiseModel_Diagonal.Variances(D)
+print("diag:", diag)
+diag.print_(b"diag:")
+print("diag R:", diag.R())
+
+p = Point3()
+p.print_("p:")
+factor = BetweenFactorPoint3(1,2,p, noise)
+factor.print_(b"factor:")
+
+vv = VectorValues()
+vv.print_(b"vv:")
+vv.insert(1, np.array([1.,2.,3.]))
+vv.insert(2, np.array([3.,4.]))
+vv.insert(3, np.array([5.,6.,7.,8.]))
+vv.print_(b"vv:")
+
+vv2 = VectorValues(vv)
+vv2.insert(4, np.array([4.,2.,1]))
+vv2.print_(b"vv2:")
+vv.print_(b"vv:")
+
+vv.insert(4, np.array([1.,2.,4.]))
+vv.print_(b"vv:")
+vv3 = vv.add(vv2)
+
+vv3.print_(b"vv3:")
+
+values = Values()
+values.insert(1, Point3())
+values.insert(2, Rot3())
+values.print_(b"values:")
+
+factor = PriorFactorVector(1, np.array([1.,2.,3.]), diag)
+print "Prior factor vector: ", factor
+
+
+
+keys = KeyVector()
+
+keys.push_back(1)
+keys.push_back(2)
+print 'size: ', keys.size()
+print keys.at(0)
+print keys.at(1)
+
+noise = noiseModel_Isotropic.Precision(2, 3.0)
+noise.print_('noise:')
+print 'noise print:', noise
+f = JacobianFactor(7, np.ones([2,2]), model=noise,  b=np.ones(2))
+print 'JacobianFactor(7):\n', f
+print "A = ", f.getA()
+print "b = ", f.getb()
+
+f = JacobianFactor(np.ones(2))
+f.print_('jacoboian b_in:')
+
+
+print "JacobianFactor initalized with b_in:", f
+
+diag = noiseModel_Diagonal.Sigmas(np.array([1.,2.,3.]))
+fv = PriorFactorVector(1, np.array([4.,5.,6.]), diag)
+print "priorfactorvector: ", fv
+
+print "base noise: ", fv.get_noiseModel()
+print "casted to gaussian2: ", dynamic_cast_noiseModel_Diagonal_noiseModel_Base(fv.get_noiseModel())
+
+X = symbol(65, 19)
+print X 
+print symbolChr(X)
+print symbolIndex(X)