def test_rotate_random(self):
"""Tests that the rotate provide the same results as quaternion.rotate."""
random_axis, random_angle = test_helpers.generate_random_test_axis_angle()
tensor_shape = random_angle.shape[:-1]
random_point = np.random.normal(size=tensor_shape + (3,))
random_quaternion = quaternion.from_axis_angle(random_axis, random_angle)
ground_truth = quaternion.rotate(random_point, random_quaternion)
prediction = axis_angle.rotate(random_point, random_axis, random_angle)
self.assertAllClose(ground_truth, prediction, rtol=1e-6)
def test_from_euler_random(self):
"""Tests that from_euler allows to perform the expect rotation of points."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
tensor_shape = random_euler_angles.shape[:-1]
random_point = np.random.normal(size=tensor_shape + (3,))
random_matrix = rotation_matrix_3d.from_euler(random_euler_angles)
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
rotated_with_matrix = rotation_matrix_3d.rotate(random_point, random_matrix)
rotated_with_axis_angle = axis_angle.rotate(random_point, random_axis,
random_angle)
self.assertAllClose(rotated_with_matrix, rotated_with_axis_angle)
def test_rotate_jacobian_random(self):
"""Test the Jacobian of the rotate 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)
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)
