From 342ab73ecc4f9e9d4775a3587e162400c8c5ccc8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 13 Jun 2021 10:22:51 -0400
Subject: [PATCH 1/2] merge double into Values templates

---
 gtsam/gtsam.i | 29 ++++++++++++++++++++++++-----
 1 file changed, 24 insertions(+), 5 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 400e98a8e5..94d10953bb 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2257,6 +2257,7 @@ class Values {
   void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert(size_t j, const gtsam::NavState& nav_state);
+  void insert(size_t j, double c);
 
   void update(size_t j, const gtsam::Point2& point2);
   void update(size_t j, const gtsam::Point3& point3);
@@ -2278,13 +2279,31 @@ class Values {
   void update(size_t j, const gtsam::NavState& nav_state);
   void update(size_t j, Vector vector);
   void update(size_t j, Matrix matrix);
-
-  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
+  void update(size_t j, double c);
+
+  template <T = {gtsam::Point2,
+                 gtsam::Point3,
+                 gtsam::Rot2,
+                 gtsam::Pose2,
+                 gtsam::SO3,
+                 gtsam::SO4,
+                 gtsam::SOn,
+                 gtsam::Rot3,
+                 gtsam::Pose3,
+                 gtsam::Unit3,
+                 gtsam::Cal3_S2,
+                 gtsam::Cal3DS2,
+                 gtsam::Cal3Bundler,
+                 gtsam::EssentialMatrix,
+                 gtsam::PinholeCameraCal3_S2,
+                 gtsam::PinholeCamera<gtsam::Cal3Bundler>,
+                 gtsam::imuBias::ConstantBias,
+                 gtsam::NavState,
+                 Vector,
+                 Matrix,
+                 double}>
   T at(size_t j);
 
-  /// version for double
-  void insertDouble(size_t j, double c);
-  double atDouble(size_t j) const;
 };
 
 #include <gtsam/nonlinear/Marginals.h>

From 52bf1cd765f52941cc2ea2394832d2f6a5ae622e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 13 Jun 2021 10:24:15 -0400
Subject: [PATCH 2/2] add cmake command to run GTSAM python tests

---
 python/CMakeLists.txt | 10 ++++++++++
 python/README.md      |  8 ++------
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index fb4d891488..5f51368e6a 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -142,3 +142,13 @@ add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
         COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
         DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
         WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})
+
+# Custom make command to run all GTSAM Python tests
+add_custom_target(
+        python-test
+        COMMAND
+          ${CMAKE_COMMAND} -E env # add package to python path so no need to install
+          "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
+          ${PYTHON_EXECUTABLE} -m unittest discover
+          DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
+        WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests)
diff --git a/python/README.md b/python/README.md
index c485d12bdc..ec9808ce0d 100644
--- a/python/README.md
+++ b/python/README.md
@@ -35,12 +35,8 @@ For instructions on updating the version of the [wrap library](https://github.co
 ## Unit Tests
 
 The Python toolbox also has a small set of unit tests located in the
-test directory. To run them:
-
-  ```bash
-  cd <GTSAM_SOURCE_DIRECTORY>/python/gtsam/tests
-  python -m unittest discover
-  ```
+test directory.
+To run them, use `make python-test`.
 
 ## Utils