def test_unnormalized_quaternion_weights_exception_raised(self):
"""Tests if quaternion_weights raise exceptions for unnormalized input."""
q1 = self._pick_random_quaternion()
q2 = tf.nn.l2_normalize(q1, axis=-1)
p = tf.constant((0.5), dtype=q1.dtype)
with self.assertRaises(tf.errors.InvalidArgumentError):
self.evaluate(slerp.quaternion_weights(q1, q2, p))
def test_interpolate_with_weights_quaternion_preset(self):
"""Compares interpolate to quaternion_weights + interpolate_with_weights."""
q1 = self._pick_random_quaternion()
q2 = q1 + tf.ones_like(q1)
q1 = tf.nn.l2_normalize(q1, axis=-1)
q2 = tf.nn.l2_normalize(q2, axis=-1)
weight1, weight2 = slerp.quaternion_weights(q1, q2, 0.25)
qf = slerp.interpolate_with_weights(q1, q2, weight1, weight2)
qi = slerp.interpolate(
q1, q2, 0.25, method=slerp.InterpolationType.QUATERNION)
self.assertAllClose(qf, qi, atol=1e-9)