From c9bcb1430cfb350e3db3b28a8f2fca0f9999d28a Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Thu, 12 Aug 2021 03:26:53 -0400
Subject: [PATCH] test GNC along with other non-linear optimizers in python
 unit tests

---
 python/gtsam/tests/test_NonlinearOptimizer.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py
index 5df7fcc0a..66339b41b 100644
--- 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__":