def test_from_rotation_matrix_preset(self):
"""Tests that Euler angles can be retrieved from rotation matrices."""
matrix = test_helpers.generate_preset_test_rotation_matrices_3d()
predicted_angles = euler.from_rotation_matrix(matrix)
reconstructed_matrices = rotation_matrix_3d.from_euler(predicted_angles)
self.assertAllClose(reconstructed_matrices, matrix, rtol=1e-3)
def test_from_rotation_matrix_jacobian_preset(self):
"""Test the Jacobian of the from_rotation_matrix function."""
x_init = test_helpers.generate_preset_test_rotation_matrices_3d()
x = tf.convert_to_tensor(value=x_init)
y = euler.from_rotation_matrix(x)
self.assert_jacobian_is_finite(x, x_init, y)
def test_inverse_jacobian_preset(self):
"""Test the Jacobian of the inverse function."""
x_init = test_helpers.generate_preset_test_rotation_matrices_3d()
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_3d.inverse(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_preset_test_rotation_matrices_3d()
tensor_shape = x_matrix_init.shape[:-1]
x_point_init = np.random.uniform(size=tensor_shape)
self.assert_jacobian_is_correct_fn(rotation_matrix_3d.rotate,
[x_point_init, x_matrix_init])
def test_from_quaternion_preset(self):
"""Tests that a quaternion maps to correct matrix."""
preset_quaternions = test_helpers.generate_preset_test_quaternions()
preset_matrices = test_helpers.generate_preset_test_rotation_matrices_3d()
self.assertAllClose(preset_matrices,
rotation_matrix_3d.from_quaternion(preset_quaternions))
def test_from_rotation_matrix_jacobian_preset(self):
"""Test the Jacobian of the from_rotation_matrix function."""
if tf.executing_eagerly():
self.skipTest(reason="Graph mode only test")
with tf.compat.v1.Session() as sess:
x_init = np.array(
sess.run(test_helpers.generate_preset_test_rotation_matrices_3d()))
x = tf.convert_to_tensor(value=x_init)
y = quaternion.from_rotation_matrix(x)
self.assert_jacobian_is_finite(x, x_init, y)
def test_rotate_jacobian_preset(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_preset_test_rotation_matrices_3d(
)
x_matrix = tf.convert_to_tensor(value=x_matrix_init)
tensor_shape = x_matrix.shape[:-1]
x_point_init = np.random.uniform(size=tensor_shape)
x_point = tf.convert_to_tensor(value=x_point_init)
y = rotation_matrix_3d.rotate(x_point, x_matrix)
self.assert_jacobian_is_correct(x_matrix, x_matrix_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_init = test_helpers.generate_preset_test_rotation_matrices_3d()
self.assert_jacobian_is_correct_fn(rotation_matrix_3d.inverse,
[x_init])
