def generate_preset_test_rotation_matrices_2d():
"""Generates pre-set test 2d rotation matrices."""
angles = generate_preset_test_euler_angles(dimensions=1)
preset_rotation_matrix = rotation_matrix_2d.from_euler(angles)
if tf.executing_eagerly():
return np.array(preset_rotation_matrix)
with tf.compat.v1.Session() as sess:
return np.array(sess.run([preset_rotation_matrix]))
def test_from_euler_jacobian_random(self):
"""Test the Jacobian of the from_euler function."""
x_init = test_helpers.generate_random_test_euler_angles(dimensions=1)
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_2d.from_euler(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_from_euler_normalized_preset(self):
"""Tests that an angle maps to correct matrix."""
euler_angles = test_helpers.generate_preset_test_euler_angles(dimensions=1)
matrix = rotation_matrix_2d.from_euler(euler_angles)
self.assertAllEqual(
rotation_matrix_2d.is_valid(matrix),
np.ones(euler_angles.shape[0:-1] + (1,), dtype=bool))
def test_from_euler_with_small_angles_approximation_random(self):
"""Tests small_angles approximation by comparing to exact calculation."""
# Only generate small angles. For a test tolerance of 1e-3, 0.17 was found
# empirically to be the range where the small angle approximation works.
random_euler_angles = test_helpers.generate_random_test_euler_angles(
min_angle=-0.17, max_angle=0.17, dimensions=1)
exact_matrix = rotation_matrix_2d.from_euler(random_euler_angles)
approximate_matrix = (
rotation_matrix_2d.from_euler_with_small_angles_approximation(
random_euler_angles))
self.assertAllClose(exact_matrix, approximate_matrix, atol=1e-3)
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 generate_preset_test_rotation_matrices_2d():
"""Generates pre-set test 2d rotation matrices."""
angles = generate_preset_test_euler_angles(dimensions=1)
preset_rotation_matrix = rotation_matrix_2d.from_euler(angles)
return preset_rotation_matrix
def func(test_point, test_angle): random_matrix = rotation_matrix_2d.from_euler(test_angle) return rotation_matrix_2d.rotate(test_point, random_matrix)
