def test_odot_batch(): p1 = torch.Tensor([1, 2]) p2 = torch.Tensor([2, 3]) ps = torch.cat([p1.unsqueeze(dim=0), p2.unsqueeze(dim=0)], dim=0) odot1 = SE2.odot(p1) odot2 = SE2.odot(p2) odots = SE2.odot(ps) assert (odot1 == odots[0, :, :]).all() assert (odot2 == odots[1, :, :]).all()
def test_odot(): p1 = torch.Tensor([1, 2]) p2 = torch.Tensor([1, 2, 1]) p3 = torch.Tensor([1, 2, 0]) odot12 = torch.cat([SE2.odot(p1), torch.zeros(3).unsqueeze_(dim=0)], dim=0) odot13 = torch.cat( [SE2.odot(p1, directional=True), torch.zeros(3).unsqueeze_(dim=0)], dim=0) odot2 = SE2.odot(p2) odot3 = SE2.odot(p3) assert (odot12 == odot2).all() assert (odot13 == odot3).all()