def test_jacobian_relative_angle_preset(self):
"""Test the Jacobian of the relative_angle function."""
x_1_init = test_helpers.generate_preset_test_quaternions()
x_2_init = test_helpers.generate_preset_test_quaternions()
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.relative_angle(x_1, x_2)
# relative angle is not smooth near <q1, q2> = 1, which occurs for
# certain preset test quaternions.
self.assert_jacobian_is_finite(x_1, x_1_init, y)
self.assert_jacobian_is_finite(x_2, x_2_init, y)
def test_valid_relative_angle_random(self):
"""Test the output is in valid range for relative_angle function."""
tensor_dimensions = np.random.randint(low=1, high=3)
tensor_shape = np.random.randint(1, 10, size=(tensor_dimensions)).tolist()
x_1_init = test_helpers.generate_random_test_quaternions(tensor_shape)
x_2_init = test_helpers.generate_random_test_quaternions(tensor_shape)
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.relative_angle(x_1, x_2)
self.assertAllGreaterEqual(y, 0.0)
self.assertAllLessEqual(y, np.pi)
def test_jacobian_relative_angle_random(self):
"""Test the Jacobian of the relative_angle function."""
tensor_dimensions = np.random.randint(low=1, high=3)
tensor_shape = np.random.randint(1, 10, size=(tensor_dimensions)).tolist()
x_1_init = test_helpers.generate_random_test_quaternions(tensor_shape)
x_2_init = test_helpers.generate_random_test_quaternions(tensor_shape)
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.relative_angle(x_1, x_2)
self.assert_jacobian_is_correct(x_1, x_1_init, y)
self.assert_jacobian_is_correct(x_2, x_2_init, y)