def test_inverse_random(self):
"""Checks that inverting rotated points results in no transformation."""
random_euler_angles = test_helpers.generate_random_test_euler_angles(
dimensions=1)
tensor_shape = random_euler_angles.shape[:-1]
random_matrix = rotation_matrix_2d.from_euler(random_euler_angles)
random_point = np.random.normal(size=tensor_shape + (2,))
rotated_random_points = rotation_matrix_2d.rotate(random_point,
random_matrix)
predicted_invert_random_matrix = rotation_matrix_2d.inverse(random_matrix)
predicted_invert_rotated_random_points = rotation_matrix_2d.rotate(
rotated_random_points, predicted_invert_random_matrix)
self.assertAllClose(
random_point, predicted_invert_rotated_random_points, rtol=1e-6)
def test_rotate_jacobian_random(self):
"""Test the Jacobian of the rotate function."""
x_matrix_init = test_helpers.generate_random_test_rotation_matrix_2d()
x_matrix = tf.convert_to_tensor(value=x_matrix_init)
tensor_shape = x_matrix_init.shape[:-2] + (2,)
x_point_init = np.random.uniform(size=tensor_shape)
x_point = tf.convert_to_tensor(value=x_point_init)
y = rotation_matrix_2d.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 func(test_point, test_angle): random_matrix = rotation_matrix_2d.from_euler(test_angle) return rotation_matrix_2d.rotate(test_point, random_matrix)