test GNC along with other non-linear optimizers in python unit tests

2021-08-12 03:26:53 -04:00 · 2021-08-12 03:26:53 -04:00 · c9bcb1430c
parent 6364e34013
commit c9bcb1430c
1 changed files with 6 additions and 0 deletions
--- a/python/gtsam/tests/test_NonlinearOptimizer.py
+++ b/python/gtsam/tests/test_NonlinearOptimizer.py
@ -78,6 +78,12 @@ class TestScenario(GtsamTestCase):
        dlParams.setOrdering(ordering)
        actual3 = DoglegOptimizer(fg, initial_values, dlParams).optimize()
        self.assertAlmostEqual(0, fg.error(actual3))
+        
+        # Graduated Non-Convexity (GNC)
+        gncParams = GncParams()
+        actual4 = GncOptimizer(fg, initial_values, gncParams).optimize()
+        self.assertAlmostEqual(0, fg.error(actual4))
+        


 if __name__ == "__main__":