def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle()
x_point_init = np.random.uniform(size=x_axis_init.shape)
self.assert_jacobian_is_correct_fn(
axis_angle.rotate, [x_point_init, x_axis_init, x_angle_init])
def test_from_axis_angle_jacobian_preset(self):
"""Test the Jacobian of the from_axis_angle function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle(
)
self.assert_jacobian_is_finite_fn(euler.from_axis_angle,
[x_axis_init, x_angle_init])
def test_inverse_jacobian_preset(self):
"""Test the Jacobian of the inverse function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle(
)
self.assert_jacobian_is_correct_fn(
lambda x: axis_angle.inverse(x, x_angle_init)[0], [x_axis_init])
self.assert_jacobian_is_correct_fn(
lambda x: axis_angle.inverse(x_axis_init, x)[1], [x_angle_init])
def test_axis_angle_jacobian_preset(self):
"""Test the Jacobian of the from_axis_angle function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle()
x_axis = tf.convert_to_tensor(value=x_axis_init)
x_angle = tf.convert_to_tensor(value=x_angle_init)
y = quaternion.from_axis_angle(x_axis, x_angle)
self.assert_jacobian_is_correct(x_axis, x_axis_init, y)
self.assert_jacobian_is_correct(x_angle, x_angle_init, y)
def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle(
)
x_axis = tf.convert_to_tensor(value=x_axis_init)
x_angle = tf.convert_to_tensor(value=x_angle_init)
x_point_init = np.random.uniform(size=x_axis.shape)
x_point = tf.convert_to_tensor(value=x_point_init)
y = axis_angle.rotate(x_point, x_axis, x_angle)
self.assert_jacobian_is_correct(x_axis, x_axis_init, y)
self.assert_jacobian_is_correct(x_angle, x_angle_init, y)
self.assert_jacobian_is_correct(x_point, x_point_init, y)
def test_inverse_jacobian_preset(self):
"""Test the Jacobian of the inverse function."""
x_axis_init, x_angle_init = test_helpers.generate_preset_test_axis_angle()
if tf.executing_eagerly():
# Because axis is returned as is, gradient calculation fails in graph mode
# but not in eager mode. This is a side effect of having a graph rather
# than a problem of the function.
with self.subTest("axis"):
self.assert_jacobian_is_correct_fn(
lambda x: axis_angle.inverse(x, x_angle_init)[0], [x_axis_init])
with self.subTest("angle"):
self.assert_jacobian_is_correct_fn(
lambda x: axis_angle.inverse(x_axis_init, x)[1], [x_angle_init])
