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

release/4.3a0
John Lambert 2021-08-12 03:26:53 -04:00 committed by GitHub
parent 6364e34013
commit c9bcb1430c
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1 changed files with 6 additions and 0 deletions
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6
python/gtsam/tests/test_NonlinearOptimizer.py
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@ -78,6 +78,12 @@ class TestScenario(GtsamTestCase):
dlParams.setOrdering(ordering) dlParams.setOrdering(ordering)
actual3 = DoglegOptimizer(fg, initial_values, dlParams).optimize() actual3 = DoglegOptimizer(fg, initial_values, dlParams).optimize()
self.assertAlmostEqual(0, fg.error(actual3)) 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__": if __name__ == "__main__":