def test_from_axis_angle_jacobian_random(self):
"""Test the Jacobian of the from_axis_angle function."""
x_axis_init, x_angle_init = test_helpers.generate_random_test_axis_angle()
x_axis = tf.convert_to_tensor(value=x_axis_init)
x_angle = tf.convert_to_tensor(value=x_angle_init)
y = euler.from_axis_angle(x_axis, x_angle)
self.assert_jacobian_is_finite(x_axis, x_axis_init, y)
self.assert_jacobian_is_finite(x_angle, x_angle_init, y)
def test_from_axis_angle_gimbal(self, gimbal_configuration):
"""Checks that from_axis_angle works when Ry = pi/2 or -pi/2."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
random_euler_angles[..., 1] = gimbal_configuration
random_matrix = rotation_matrix_3d.from_euler(random_euler_angles)
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
predicted_random_angles = euler.from_axis_angle(random_axis, random_angle)
reconstructed_random_matrices = rotation_matrix_3d.from_euler(
predicted_random_angles)
self.assertAllClose(reconstructed_random_matrices, random_matrix, atol=1e-3)