def test_cross(self):
"""
For a pair of randomly generated 3-dimensional vectors `a` and `b`,
tests whether a matrix product of `hat(a)` and `b` equals the result
of a cross product between `a` and `b`.
"""
device = torch.device("cuda:0")
a, b = torch.randn((2, 100, 3), dtype=torch.float32, device=device)
hat_a = hat(a)
cross = torch.bmm(hat_a, b[:, :, None])[:, :, 0]
torch_cross = torch.cross(a, b, dim=1)
self.assertClose(torch_cross, cross, atol=1e-4)
def test_cross(self):
"""
For a pair of randomly generated 3-dimensional vectors `a` and `b`,
tests whether a matrix product of `hat(a)` and `b` equals the result
of a cross product between `a` and `b`.
"""
device = torch.device("cuda:0")
a, b = torch.randn((2, 100, 3), dtype=torch.float32, device=device)
hat_a = hat(a)
cross = torch.bmm(hat_a, b[:, :, None])[:, :, 0]
torch_cross = torch.cross(a, b, dim=1)
max_df = (cross - torch_cross).abs().max()
self.assertAlmostEqual(float(max_df), 0.0, 5)