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python: wrapper fixes for AttitudeFactor noise model #2789

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Merged
ProfFan merged 1 commit into from
Sep 9, 2026
+21 −2
Merged

python: wrapper fixes for AttitudeFactor noise model #2789

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4 changes: 2 additions & 2 deletions gtsam/navigation/navigation.i
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Original file line number Diff line number Diff line change
Expand Up @@ -717,10 +717,10 @@ template<VALUE = {gtsam::Rot3, gtsam::Pose3, gtsam::NavState, gtsam::Gal3,
gtsam::Se23, gtsam::ExtendedPose3d}>
virtual class AttitudeFactor : gtsam::NoiseModelFactor {
AttitudeFactor(gtsam::Key key, const gtsam::Unit3& nRef,
const gtsam::noiseModel::Diagonal* model,
const gtsam::noiseModel::Base* model,
const gtsam::Unit3& bMeasured);
AttitudeFactor(gtsam::Key key, const gtsam::Unit3& nRef,
const gtsam::noiseModel::Diagonal* model);
const gtsam::noiseModel::Base* model);
AttitudeFactor();
const gtsam::Unit3& nRef() const;
const gtsam::Unit3& bMeasured() const;
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19 changes: 19 additions & 0 deletions python/gtsam/tests/test_AttitudeFactor.py
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Expand Up @@ -40,6 +40,25 @@ def check_factor(self, factor_cls, state):
values.insert(0, state)
self.assertAlmostEqual(factor.error(values), 0.0, places=9)

def test_accepts_any_noise_model(self):
"""The constructor takes a noiseModel.Base, not only a Diagonal.

Regression test: the wrapper used to declare the model as a
Diagonal, which rejected robust and full-covariance models.
"""
gaussian = gtsam.noiseModel.Gaussian.Covariance(
np.array([[0.1, 0.02], [0.02, 0.2]]))
robust = gtsam.noiseModel.Robust.Create(
gtsam.noiseModel.mEstimator.Huber.Create(1.345), self.model())
for model in (gaussian, robust):
factor = gtsam.AttitudeFactorRot3(0, self.n_down(), model)
values = gtsam.Values()
values.insert(0, gtsam.Rot3())
self.assertAlmostEqual(factor.error(values), 0.0, places=9)
# a rotated state gives a non-zero, finite error under both models
values.update(0, gtsam.Rot3.Roll(0.5))
self.assertGreater(factor.error(values), 0.0)

def test_navstate_attitude_factor(self):
state = gtsam.NavState(
gtsam.Rot3(),
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