def test_interpolate_with_weights_vector_preset(self):
"""Compares interpolate to vector_weights + interpolate_with_weights."""
# Any quaternion is a valid vector
q1 = self._pick_random_quaternion()
q2 = q1 + tf.ones_like(q1)
weight1, weight2 = slerp.vector_weights(q1, q2, 0.75)
qf = slerp.interpolate_with_weights(q1, q2, weight1, weight2)
qi = slerp.interpolate(q1, q2, 0.75, method=slerp.InterpolationType.VECTOR)
self.assertAllClose(qf, qi, atol=1e-9)
def test_interpolate_with_weights_quaternion_preset(self):
"""Compares interpolate to quaternion_weights + interpolate_with_weights."""
q1 = self._pick_random_quaternion()
q2 = q1 + tf.ones_like(q1)
q1 = tf.nn.l2_normalize(q1, axis=-1)
q2 = tf.nn.l2_normalize(q2, axis=-1)
weight1, weight2 = slerp.quaternion_weights(q1, q2, 0.25)
qf = slerp.interpolate_with_weights(q1, q2, weight1, weight2)
qi = slerp.interpolate(
q1, q2, 0.25, method=slerp.InterpolationType.QUATERNION)
self.assertAllClose(qf, qi, atol=1e-9)
