def test_from_euler_with_small_angles_approximation_jacobian_random(self):
"""Test the Jacobian of from_euler_with_small_angles_approximation."""
x_init = test_helpers.generate_random_test_euler_angles(
min_angle=-0.17, max_angle=0.17)
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_3d.from_euler_with_small_angles_approximation(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_from_euler_with_small_angles_approximation_random(self):
"""Tests small_angles approximation by comparing to exact calculation."""
# Only generate small angles. For a test tolerance of 1e-3, 0.16 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=-0.16, max_angle=0.16)
exact_matrix = rotation_matrix_3d.from_euler(random_euler_angles)
approximate_matrix = (
rotation_matrix_3d.from_euler_with_small_angles_approximation(
random_euler_angles))
self.assertAllClose(exact_matrix, approximate_matrix, atol=1e-3)