def test_from_rotation_matrix_jacobian_random(self):
"""Test the Jacobian of the from_rotation_matrix function."""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
x = tf.convert_to_tensor(value=x_init)
y = quaternion.from_rotation_matrix(x)
self.assert_jacobian_is_finite(x, x_init, y)
def test_rotate_jacobian_random(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_random_test_rotation_matrix_3d()
tensor_shape = x_matrix_init.shape[:-1]
x_point_init = np.random.uniform(size=tensor_shape)
self.assert_jacobian_is_correct_fn(rotation_matrix_3d.rotate,
[x_point_init, x_matrix_init])
def test_inverse_jacobian_random(self):
"""Test the Jacobian of the inverse function."""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_3d.inverse(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_from_rotation_matrix_normalized_random(self):
"""Tests that from_rotation_matrix produces normalized quaternions."""
random_matrix = test_helpers.generate_random_test_rotation_matrix_3d()
random_quaternion = quaternion.from_rotation_matrix(random_matrix)
self.assertAllEqual(
quaternion.is_normalized(random_quaternion),
np.ones(shape=random_matrix.shape[:-2] + (1,), dtype=bool))
def test_from_rotation_matrix_random(self):
"""Tests that Euler angles can be retrieved from rotation matrices."""
matrix = test_helpers.generate_random_test_rotation_matrix_3d()
predicted_angles = euler.from_rotation_matrix(matrix)
# There is not a unique mapping from rotation matrices to Euler angles. The
# following constructs the rotation matrices from the `predicted_angles` and
# compares them with `matrix`.
reconstructed_matrices = rotation_matrix_3d.from_euler(predicted_angles)
self.assertAllClose(reconstructed_matrices, matrix, rtol=1e-3)
def test_from_rotation_matrix_jacobian_random(self):
"""Test the Jacobian of the from_rotation_matrix function.
Note:
Preset angles are not tested as the gradient of tf.norm is NaN a 0.
"""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
self.assert_jacobian_is_finite_fn(
lambda x: axis_angle.from_rotation_matrix(x)[0], [x_init])
self.assert_jacobian_is_finite_fn(
lambda x: axis_angle.from_rotation_matrix(x)[1], [x_init])
def test_rotate_jacobian_random(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_random_test_rotation_matrix_3d()
x_matrix = tf.convert_to_tensor(value=x_matrix_init)
tensor_shape = x_matrix.shape[:-1]
x_point_init = np.random.uniform(size=tensor_shape)
x_point = tf.convert_to_tensor(value=x_point_init)
y = rotation_matrix_3d.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_rotation_matrix_jacobian_random(self):
"""Test the Jacobian of the from_rotation_matrix function.
Note:
Preset angles are not tested as the gradient of tf.norm is NaN a 0.
"""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
x = tf.convert_to_tensor(value=x_init)
y_axis, y_angle = axis_angle.from_rotation_matrix(x)
self.assert_jacobian_is_finite(x, x_init, y_axis)
self.assert_jacobian_is_finite(x, x_init, y_angle)
def test_inverse_jacobian_random(self):
"""Test the Jacobian of the inverse function."""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
self.assert_jacobian_is_correct_fn(rotation_matrix_3d.inverse,
[x_init])
def test_from_rotation_matrix_jacobian_random(self):
"""Test the Jacobian of the from_rotation_matrix function."""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
self.assert_jacobian_is_finite_fn(quaternion.from_rotation_matrix, [x_init])
