def check_pi_test():
for g, w in known_pairs:
w2 = se2_from_SE2(g)
# printm('g', g, 'w', w, 'w2', w2)
assert_allclose(w, w2, atol=1e-8)
g2 = SE2_from_se2(w2)
assert_allclose(g, g2, atol=1e-8)
def comparison_test_2():
''' Compares between se2_from_SE2 and se2_from_SE2_slow. '''
for pose in SE2.interesting_points():
se2a = se2_from_SE2(pose)
se2b = se2_from_SE2_slow(pose)
#printm('pose', pose, 'se2a', se2a, 'se2b', se2b)
assert_allclose(se2a, se2b, atol=1e-8)
def check_pi_test():
for g, w in known_pairs:
w2 = se2_from_SE2(g)
# printm('g', g, 'w', w, 'w2', w2)
assert_allclose(w, w2, atol=1e-8)
g2 = SE2_from_se2(w2)
assert_allclose(g, g2, atol=1e-8)
def comparison_test_2():
''' Compares between se2_from_SE2 and se2_from_SE2_slow. '''
for pose in SE2.interesting_points():
se2a = se2_from_SE2(pose)
se2b = se2_from_SE2_slow(pose)
#printm('pose', pose, 'se2a', se2a, 'se2b', se2b)
assert_allclose(se2a, se2b, atol=1e-8)
def comparison_test():
''' Compares between SE2_from_se2_slow and SE2_from_se2. '''
for pose in SE2.interesting_points():
se2 = se2_from_SE2(pose)
SE2a = SE2_from_se2_slow(se2)
SE2b = SE2_from_se2(se2)
#printm('pose', pose, 'se2', se2)
#printm('SE2a', SE2a, 'SE2b', SE2b)
SE2.assert_close(SE2a, pose)
#print('SE2a = pose Their distance is %f' % d)
SE2.assert_close(SE2b, pose)
#print('SE2b = pose Their distance is %f' % d)
assert_allclose(SE2a, SE2b, atol=1e-8, err_msg='SE2a != SE2b')
assert_allclose(SE2a, pose, atol=1e-8, err_msg='SE2a != pose')
assert_allclose(SE2b, pose, atol=1e-8, err_msg='SE2b != pose')
def comparison_test():
''' Compares between SE2_from_se2_slow and SE2_from_se2. '''
for pose in SE2.interesting_points():
se2 = se2_from_SE2(pose)
SE2a = SE2_from_se2_slow(se2)
SE2b = SE2_from_se2(se2)
#printm('pose', pose, 'se2', se2)
#printm('SE2a', SE2a, 'SE2b', SE2b)
SE2.assert_close(SE2a, pose)
#print('SE2a = pose Their distance is %f' % d)
SE2.assert_close(SE2b, pose)
#print('SE2b = pose Their distance is %f' % d)
assert_allclose(SE2a, SE2b, atol=1e-8, err_msg='SE2a != SE2b')
assert_allclose(SE2a, pose, atol=1e-8, err_msg='SE2a != pose')
assert_allclose(SE2b, pose, atol=1e-8, err_msg='SE2b != pose')
