def test_explog(self):
self.assertApprox(exp(42), math.exp(42))
self.assertApprox(log(42), math.log(42))
self.assertApprox(exp(log(42)), 42)
self.assertApprox(log(exp(42)), 42)
m = rand(3)
self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test
self.assertApprox(log(exp(m)), m)
m = pin.SE3.Random()
self.assertApprox(exp(log(m)), m)
m = rand(6)
self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test (actually, only angular part)
self.assertApprox(log(exp(m)), m)
m = eye(4)
self.assertApprox(exp(log(m)).homogeneous, m)
with self.assertRaises(ValueError):
exp(eye(4))
with self.assertRaises(ValueError):
exp(list(range(3)))
with self.assertRaises(ValueError):
log(list(range(3)))
with self.assertRaises(ValueError):
log(zero(5))
with self.assertRaises(ValueError):
log(zero((3,1)))
def test_explog(self):
self.assertApprox(exp(42), math.exp(42))
self.assertApprox(log(42), math.log(42))
self.assertApprox(exp(log(42)), 42)
self.assertApprox(log(exp(42)), 42)
m = rand(3)
self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test
self.assertApprox(log(exp(m)), m)
m = se3.SE3.Random()
self.assertApprox(exp(log(m)), m)
m = rand(6)
self.assertTrue(
np.linalg.norm(m) <
np.pi) # necessary for next test (actually, only angular part)
self.assertApprox(log(exp(m)), m)
m = np.eye(4)
self.assertApprox(exp(log(m)).homogeneous, m)
with self.assertRaises(ValueError):
exp(np.eye(4))
with self.assertRaises(ValueError):
exp(list(range(3)))
with self.assertRaises(ValueError):
log(list(range(3)))
with self.assertRaises(ValueError):
log(np.zeros(5))
with self.assertRaises(ValueError):
log(np.zeros((3, 1)))
def test_explog(self):
self.assertApprox(exp(42), math.exp(42))
self.assertApprox(log(42), math.log(42))
self.assertApprox(exp(log(42)), 42)
self.assertApprox(log(exp(42)), 42)
m = np.matrix(range(1, 4), np.double).T
self.assertApprox(log(exp(m)), m)
m = se3.SE3.Random()
self.assertApprox(exp(log(m)), m)
m = np.matrix([float(i) / 10 for i in range(1, 7)]).T
self.assertApprox(log(exp(m)), m)
m = np.eye(4)
self.assertApprox(exp(log(m)).homogeneous, m)
with self.assertRaises(ValueError):
exp(np.eye(4))
with self.assertRaises(ValueError):
exp(range(3))
with self.assertRaises(ValueError):
log(range(3))
with self.assertRaises(ValueError):
log(np.zeros(5))