def test_odot_batch():
p1 = torch.Tensor([1, 2])
p2 = torch.Tensor([2, 3])
ps = torch.cat([p1.unsqueeze(dim=0), p2.unsqueeze(dim=0)], dim=0)
odot1 = SE2.odot(p1)
odot2 = SE2.odot(p2)
odots = SE2.odot(ps)
assert (odot1 == odots[0, :, :]).all()
assert (odot2 == odots[1, :, :]).all()
def test_odot():
p1 = torch.Tensor([1, 2])
p2 = torch.Tensor([1, 2, 1])
p3 = torch.Tensor([1, 2, 0])
odot12 = torch.cat([SE2.odot(p1), torch.zeros(3).unsqueeze_(dim=0)], dim=0)
odot13 = torch.cat(
[SE2.odot(p1, directional=True),
torch.zeros(3).unsqueeze_(dim=0)],
dim=0)
odot2 = SE2.odot(p2)
odot3 = SE2.odot(p3)
assert (odot12 == odot2).all()
assert (odot13 == odot3).all()