def test_wedge_vee_batch(): xis = torch.Tensor([[1, 2, 3], [4, 5, 6]]) Xis = SE2.wedge(xis) assert (xis == SE2.vee(Xis)).all()
def test_wedge_vee(): xi = torch.Tensor([1, 2, 3]) Xi = SE2.wedge(xi) assert (xi == SE2.vee(Xi)).all()