def test_small_angle(self):
theta = 1e-2
quaternion = torch.Tensor([np.cos(theta / 2), np.sin(theta / 2), 0, 0])
expected = torch.Tensor([theta, 0, 0])
angle_axis = tgm.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_z_rotation(self):
quaternion = torch.Tensor([np.sqrt(3) / 2, 0, 0, 0.5])
expected = torch.Tensor([0, 0, tgm.pi / 3])
angle_axis = tgm.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_smoke_batch(self, batch_size):
quaternion = torch.zeros(batch_size, 4)
angle_axis = tgm.quaternion_to_angle_axis(quaternion)
assert angle_axis.shape == (batch_size, 3)
def test_y_rotation(self):
quaternion = torch.Tensor([0, 0, 1, 0])
expected = torch.Tensor([0, tgm.pi, 0])
angle_axis = tgm.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_smoke(self):
quaternion = torch.zeros(4)
angle_axis = tgm.quaternion_to_angle_axis(quaternion)
assert angle_axis.shape == (3, )
