def test_left_jacobians():
phi_small = torch.Tensor([0.])
phi_big = torch.Tensor([np.pi / 2])
left_jacobian_small = SO2.left_jacobian(phi_small)
inv_left_jacobian_small = SO2.inv_left_jacobian(phi_small)
assert utils.allclose(
torch.mm(left_jacobian_small, inv_left_jacobian_small),
torch.eye(2))
left_jacobian_big = SO2.left_jacobian(phi_big)
inv_left_jacobian_big = SO2.inv_left_jacobian(phi_big)
assert utils.allclose(
torch.mm(left_jacobian_big, inv_left_jacobian_big),
torch.eye(2))
def test_left_jacobians_batch():
phis = torch.Tensor([0., np.pi / 2])
left_jacobian = SO2.left_jacobian(phis)
inv_left_jacobian = SO2.inv_left_jacobian(phis)
assert utils.allclose(torch.bmm(left_jacobian, inv_left_jacobian),
torch.eye(2).unsqueeze_(dim=0).expand(2, 2, 2))