def test_from_euler_with_small_angles_approximation_random(self):
# Only generate small angles. For a test tolerance of 1e-3, 0.23 was found
# empirically to be the range where the small angle approximation works.
random_euler_angles = test_helpers.generate_random_test_euler_angles(
min_angle=-0.23, max_angle=0.23)
exact_axis_angle = axis_angle.from_euler(random_euler_angles)
approximate_axis_angle = (
axis_angle.from_euler_with_small_angles_approximation(
random_euler_angles))
self.assertAllClose(exact_axis_angle,
approximate_axis_angle,
atol=1e-3)
def test_from_euler_random(self):
"""Tests that from_euler allows to perform the expect rotation of points."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
tensor_shape = random_euler_angles.shape[:-1]
random_point = np.random.normal(size=tensor_shape + (3, ))
random_matrix = rotation_matrix_3d.from_euler(random_euler_angles)
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
rotated_with_matrix = rotation_matrix_3d.rotate(
random_point, random_matrix)
rotated_with_axis_angle = axis_angle.rotate(random_point, random_axis,
random_angle)
self.assertAllClose(rotated_with_matrix, rotated_with_axis_angle)
def test_from_axis_angle_gimbal(self, gimbal_configuration):
"""Checks that from_axis_angle works when Ry = pi/2 or -pi/2."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
random_euler_angles[..., 1] = gimbal_configuration
random_matrix = rotation_matrix_3d.from_euler(random_euler_angles)
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
predicted_random_angles = euler.from_axis_angle(
random_axis, random_angle)
reconstructed_random_matrices = rotation_matrix_3d.from_euler(
predicted_random_angles)
self.assertAllClose(reconstructed_random_matrices,
random_matrix,
atol=1e-3)
def test_is_normalized_random(self):
"""Tests that is_normalized works as intended."""
# Samples normalized axis-angles.
random_euler_angles = test_helpers.generate_random_test_euler_angles()
with self.subTest(name=("is_normalized")):
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
pred = axis_angle.is_normalized(random_axis, random_angle)
self.assertAllEqual(np.ones(shape=random_angle.shape, dtype=bool), pred)
with self.subTest(name=("is_not_normalized")):
random_axis *= 1.01
pred = axis_angle.is_normalized(random_axis, random_angle)
self.assertAllEqual(np.zeros(shape=random_angle.shape, dtype=bool), pred)
def generate_preset_test_axis_angle():
"""Generates pre-set test rotation matrices."""
angles = generate_preset_test_euler_angles()
axis, angle = axis_angle.from_euler(angles)
return axis, angle