Rename approx_equal() -> equals() (#45)

graphslam/edge/base_edge.py

@@ -182,8 +182,8 @@ def plot(self, color=""):
 
         """
 
-    def approx_equal(self, other, tol=1e-6):
-        """Check whether two edges are approximately equal.
+    def equals(self, other, tol=1e-6):
+        """Check whether two edges are equal.
 
         Parameters
         ----------
@@ -195,7 +195,7 @@ def approx_equal(self, other, tol=1e-6):
         Returns
         -------
         bool
-            Whether the two edges are approximately equal
+            Whether the two edges are equal
 
         """
         if len(self.vertex_ids) != len(other.vertex_ids):
@@ -210,7 +210,7 @@ def approx_equal(self, other, tol=1e-6):
         # fmt: on
 
         if isinstance(self.estimate, BasePose):
-            return isinstance(other.estimate, BasePose) and self.estimate.approx_equal(other.estimate, tol)
+            return isinstance(other.estimate, BasePose) and self.estimate.equals(other.estimate, tol)
 
         # fmt: off
         return not isinstance(other.estimate, BasePose) and np.linalg.norm(self.estimate - other.estimate) / max(np.linalg.norm(self.estimate), tol) < tol

graphslam/graph.py

@@ -377,8 +377,8 @@ def plot(self, vertex_color="r", vertex_marker="o", vertex_markersize=3, edge_co
 
         plt.show()
 
-    def approx_equal(self, other, tol=1e-6):
-        """Check whether two graphs are approximately equal.
+    def equals(self, other, tol=1e-6):
+        """Check whether two graphs are equal.
 
         Parameters
         ----------
@@ -390,13 +390,13 @@ def approx_equal(self, other, tol=1e-6):
         Returns
         -------
         bool
-            Whether the two graphs are approximately equal
+            Whether the two graphs are equal
 
         """
         # pylint: disable=protected-access
         if len(self._edges) != len(other._edges) or len(self._vertices) != len(other._vertices):
             return False
 
         # fmt: off
-        return all(e1.approx_equal(e2, tol) for e1, e2 in zip(self._edges, other._edges)) and all(v1.pose.approx_equal(v2.pose, tol) for v1, v2 in zip(self._vertices, other._vertices))
+        return all(e1.equals(e2, tol) for e1, e2 in zip(self._edges, other._edges)) and all(v1.pose.equals(v2.pose, tol) for v1, v2 in zip(self._vertices, other._vertices))
         # fmt: on

graphslam/pose/base_pose.py

@@ -44,8 +44,8 @@ def to_compact(self):
         """
         raise NotImplementedError
 
-    def approx_equal(self, other, tol=1e-6):
-        """Check whether two poses are approximately equal.
+    def equals(self, other, tol=1e-6):
+        """Check whether two poses are equal.
 
         Parameters
         ----------
@@ -57,7 +57,7 @@ def approx_equal(self, other, tol=1e-6):
         Returns
         -------
         bool
-            Whether the two poses are approximately equal
+            Whether the two poses are equal
 
         """
         return np.linalg.norm(self.to_array() - other.to_array()) / max(np.linalg.norm(self.to_array()), tol) < tol

tests/test_base_edge.py

@@ -85,8 +85,8 @@ def test_calc_chi2_gradient_hessian(self):
         self.assertAlmostEqual(np.linalg.norm(hessian[(v1.gradient_index, v2.gradient_index)] + np.eye(2)), 0.0)
         self.assertAlmostEqual(np.linalg.norm(hessian[(v2.gradient_index, v2.gradient_index)] - np.eye(2)), 0.0)
 
-    def test_approx_equal(self):
-        """Test that the ``approx_equal`` method works as expected."""
+    def test_equals(self):
+        """Test that the ``equals`` method works as expected."""
         p1 = PoseR2([1, 2])
         p2 = PoseR2([3, 4])
         estimate = PoseR2([0, 0])
@@ -97,19 +97,19 @@ def test_approx_equal(self):
         e1 = EdgeOdometry([1, 2], np.eye(2), estimate, [v1, v2])
         e2 = EdgeOdometry([1, 2], np.eye(2), estimate, [v1, v2])
 
-        self.assertTrue(e1.approx_equal(e2))
+        self.assertTrue(e1.equals(e2))
 
         e2.estimate = 123
-        self.assertFalse(e2.approx_equal(e1))
+        self.assertFalse(e2.equals(e1))
 
         e2.information = np.eye(1)
-        self.assertFalse(e1.approx_equal(e2))
+        self.assertFalse(e1.equals(e2))
 
         e2.vertex_ids = [3, 4]
-        self.assertFalse(e1.approx_equal(e2))
+        self.assertFalse(e1.equals(e2))
 
         e2.vertex_ids = [5]
-        self.assertFalse(e1.approx_equal(e2))
+        self.assertFalse(e1.equals(e2))
 
 
 if __name__ == "__main__":

tests/test_graph.py

@@ -126,10 +126,10 @@ def test_plot(self):
         with patch("graphslam.graph.plt.show"):
             self.g.plot(title="Title")
 
-    def test_approx_equal(self):
-        """Test that the ``approx_equal`` method returns False when comparing to an empty graph."""
+    def test_equals(self):
+        """Test that the ``equals`` method returns False when comparing to an empty graph."""
         g = Graph([], [])
-        self.assertFalse(g.approx_equal(self.g))
+        self.assertFalse(g.equals(self.g))
 
 
 class TestGraphR3(TestGraphR2):
@@ -303,7 +303,7 @@ def test_intel(self):
         # g.to_g2o(optimized)
 
         g2 = load_g2o_se2(optimized)
-        self.assertTrue(g.approx_equal(g2))
+        self.assertTrue(g.equals(g2))
 
     def test_parking_garage(self):
         """Test for optimizing the parking garage dataset."""
@@ -318,7 +318,7 @@ def test_parking_garage(self):
         # g.to_g2o(optimized)
 
         g2 = load_g2o_se3(optimized)
-        self.assertTrue(g.approx_equal(g2))
+        self.assertTrue(g.equals(g2))
 
 
 if __name__ == "__main__":