def test_multiply_jacobian_preset(self):
"""Test the Jacobian of the multiply function."""
x_1_init = test_helpers.generate_preset_test_quaternions()
x_2_init = test_helpers.generate_preset_test_quaternions()
self.assert_jacobian_is_correct_fn(quaternion.multiply,
[x_1_init, x_2_init])
def test_jacobian_relative_angle_preset(self):
"""Test the Jacobian of the relative_angle function."""
x_1_init = test_helpers.generate_preset_test_quaternions()
x_2_init = test_helpers.generate_preset_test_quaternions()
# relative angle is not smooth near <q1, q2> = 1, which occurs for
# certain preset test quaternions.
self.assert_jacobian_is_finite_fn(quaternion.relative_angle,
[x_1_init, x_2_init])
def test_multiply_jacobian_preset(self):
"""Test the Jacobian of the multiply function."""
x_1_init = test_helpers.generate_preset_test_quaternions()
x_2_init = test_helpers.generate_preset_test_quaternions()
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.multiply(x_1, x_2)
self.assert_jacobian_is_correct(x_1, x_1_init, y)
self.assert_jacobian_is_correct(x_2, x_2_init, y)
def test_jacobian_relative_angle_preset(self):
"""Test the Jacobian of the relative_angle function."""
x_1_init = test_helpers.generate_preset_test_quaternions()
x_2_init = test_helpers.generate_preset_test_quaternions()
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.relative_angle(x_1, x_2)
# relative angle is not smooth near <q1, q2> = 1, which occurs for
# certain preset test quaternions.
self.assert_jacobian_is_finite(x_1, x_1_init, y)
self.assert_jacobian_is_finite(x_2, x_2_init, y)
def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_preset_test_quaternions()
tensor_shape = x_matrix_init.shape[:-1] + (3,)
x_point_init = np.random.uniform(size=tensor_shape)
self.assert_jacobian_is_correct_fn(quaternion.rotate,
[x_point_init, x_matrix_init])
def test_normalize_jacobian_preset(self):
"""Test the Jacobian of the normalize function."""
x_init = test_helpers.generate_preset_test_quaternions()
x = tf.convert_to_tensor(value=x_init)
y = quaternion.normalize(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_from_quaternion_jacobian_preset(self):
"""Test the Jacobian of the from_quaternion function."""
x_init = test_helpers.generate_preset_test_quaternions()
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_3d.from_quaternion(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_from_quaternion_preset(self):
"""Tests that a quaternion maps to correct matrix."""
preset_quaternions = test_helpers.generate_preset_test_quaternions()
preset_matrices = test_helpers.generate_preset_test_rotation_matrices_3d()
self.assertAllClose(preset_matrices,
rotation_matrix_3d.from_quaternion(preset_quaternions))
def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_preset_test_quaternions()
x_matrix = tf.convert_to_tensor(value=x_matrix_init)
tensor_shape = x_matrix_init.shape[:-1] + (3,)
x_point_init = np.random.uniform(size=tensor_shape)
x_point = tf.convert_to_tensor(value=x_point_init)
y = quaternion.rotate(x_point, x_matrix)
self.assert_jacobian_is_correct(x_matrix, x_matrix_init, y)
self.assert_jacobian_is_correct(x_point, x_point_init, y)
def test_from_quaternion_jacobian_preset(self):
"""Test the Jacobian of the from_quaternion function."""
x_init = test_helpers.generate_preset_test_quaternions()
self.assert_jacobian_is_correct_fn(rotation_matrix_3d.from_quaternion,
[x_init])
def test_normalize_jacobian_preset(self):
"""Test the Jacobian of the normalize function."""
x_init = test_helpers.generate_preset_test_quaternions()
self.assert_jacobian_is_correct_fn(quaternion.normalize, [x_init])
def test_from_quaternion_jacobian_preset(self):
"""Test the Jacobian of the from_quaternion function."""
x_init = test_helpers.generate_preset_test_quaternions()
self.assert_jacobian_is_finite_fn(euler.from_quaternion, [x_init])
