def test_identity_batch():
C = SO2.identity(5)
assert isinstance(C, SO2) \
and C.mat.dim() == 3 \
and C.mat.shape == (5, 2, 2)
C_copy = SO2.identity(5, copy=True)
assert isinstance(C_copy, SO2) \
and C_copy.mat.dim() == 3 \
and C_copy.mat.shape == (5, 2, 2)
def test_inv_batch():
C = SO2.exp(torch.Tensor([-1., 0., 1.]))
assert utils.allclose(C.dot(C.inv()).mat, SO2.identity(C.mat.shape[0]).mat)
def test_identity():
C = SO2.identity()
assert isinstance(C, SO2) \
and C.mat.dim() == 2 \
and C.mat.shape == (2, 2)
def test_inv():
C = SO2.exp(torch.Tensor([np.pi / 4]))
assert utils.allclose(C.dot(C.inv()).mat, SO2.identity().mat)