def test_from_quaternion_jacobian_random(self):
"""Test the Jacobian of the from_quaternion function.
Note:
Preset angles are not tested as the gradient of tf.norm is NaN a 0.
"""
x_init = test_helpers.generate_random_test_quaternions()
self.assert_jacobian_is_finite_fn(
lambda x: axis_angle.from_quaternion(x)[0], [x_init])
self.assert_jacobian_is_finite_fn(
lambda x: axis_angle.from_quaternion(x)[1], [x_init])
def test_from_quaternion_normalized_random(self):
"""Tests that from_quaternion returns normalized axis-angles."""
random_quaternions = test_helpers.generate_random_test_quaternions()
random_axis, random_angle = axis_angle.from_quaternion(random_quaternions)
self.assertAllEqual(
axis_angle.is_normalized(random_axis, random_angle),
np.ones(random_angle.shape))
def test_from_quaternion_normalized_preset(self):
"""Tests that from_quaternion returns normalized axis-angles."""
euler_angles = test_helpers.generate_preset_test_euler_angles()
quat = quaternion.from_euler(euler_angles)
axis, angle = axis_angle.from_quaternion(quat)
self.assertAllEqual(
axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_from_quaternion_random(self):
"""Tests that axis_angle.from_quaternion produces the expected result."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
random_quaternions = quaternion.from_euler(random_euler_angles)
random_axis_angle = axis_angle.from_euler(random_euler_angles)
self.assertAllClose(random_axis_angle,
axis_angle.from_quaternion(random_quaternions),
rtol=1e-3)
def test_from_quaternion_preset(self):
"""Tests that axis_angle.from_quaternion produces the expected result."""
preset_euler_angles = test_helpers.generate_preset_test_euler_angles()
preset_quaternions = quaternion.from_euler(preset_euler_angles)
preset_axis_angle = axis_angle.from_euler(preset_euler_angles)
self.assertAllClose(preset_axis_angle,
axis_angle.from_quaternion(preset_quaternions),
rtol=1e-3)
def test_from_quaternion_jacobian_random(self):
"""Test the Jacobian of the from_quaternion function.
Note:
Preset angles are not tested as the gradient of tf.norm is NaN a 0.
"""
x_init = test_helpers.generate_random_test_quaternions()
x = tf.convert_to_tensor(value=x_init)
y_axis, y_angle = axis_angle.from_quaternion(x)
self.assert_jacobian_is_finite(x, x_init, y_axis)
self.assert_jacobian_is_finite(x, x_init, y_angle)
