def test_right_jacobians_or_boxminusr(self):
for i in range(100):
R1 = SO2.random()
R2 = SO2.random()
theta, Jr1 = R1.boxminusr(R2, Jr1=1)
_, Jr2 = R1.boxminusr(R2, Jr2=1)
dR = R2.inv() * R1
_, Jr1_true = SO2.Log(dR, Jr=1)
_, Jr2_true = SO2.Log(dR, Jl=1)
np.testing.assert_allclose(Jr1_true, Jr1)
np.testing.assert_allclose(Jr2_true, Jr2)
def test_left_jacobian_of_logarithm(self):
R = SO2.random()
logR, Jl_inv = SO2.Log(R, Jl=True)
_, Jl = SO2.Exp(logR, Jl=True)
self.assertEqual(1/Jl, Jl_inv)
def test_right_jacobian_of_logarithm(self):
R = SO2.random()
logR, Jr_inv = SO2.Log(R, Jr=True)
_, Jr = SO2.Exp(logR, Jr=True)
self.assertEqual(1/Jr, Jr_inv)