update python wrapper

borglab · Nov 11, 2021 · d86fc98 · d86fc98
1 parent 508db60
commit d86fc98
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
@@ -473,6 +473,9 @@ class Pose3 {
   Vector logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  Vector AdjointTranspose(Vector xi) const;
+  static Matrix adjointMap(Vector xi);
+  static Vector adjoint(Vector xi, Vector y);
   static Matrix adjointMap_(Vector xi);
   static Vector adjoint_(Vector xi, Vector y);
   static Vector adjointTranspose(Vector xi, Vector y);

diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py
@@ -59,8 +59,16 @@ def test_range(self):
         self.assertEqual(math.sqrt(2.0), x1.range(pose=xl2))
 
     def test_adjoint(self):
-        """Test adjoint method."""
+        """Test adjoint methods."""
+        T = Pose3()
         xi = np.array([1, 2, 3, 4, 5, 6])
+        # test calling functions
+        T.AdjointMap()
+        T.Adjoint(xi)
+        T.AdjointTranspose(xi)
+        Pose3.adjointMap(xi)
+        Pose3.adjoint(xi, xi)
+        # test correctness of adjoint(x, y)
         expected = np.dot(Pose3.adjointMap_(xi), xi)
         actual = Pose3.adjoint_(xi, xi)
         np.testing.assert_array_equal(actual, expected)