def test_from_axis_angle_jacobian_random(self): """Test the Jacobian of the from_axis_angle function.""" x_axis_init, x_angle_init = test_helpers.generate_random_test_axis_angle( ) self.assert_jacobian_is_finite_fn(euler.from_axis_angle, [x_axis_init, x_angle_init])
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_point_init = np.random.uniform(size=x_axis_init.shape) self.assert_jacobian_is_correct_fn( axis_angle.rotate, [x_point_init, x_axis_init, x_angle_init])
def test_inverse_random(self): """Tests axis-angle inversion.""" random_axis, random_angle = test_helpers.generate_random_test_axis_angle() inverse_axis, inverse_angle = axis_angle.inverse(random_axis, random_angle) self.assertAllClose(inverse_axis, random_axis, rtol=1e-3) self.assertAllClose(inverse_angle, -random_angle, rtol=1e-3)
def test_inverse_normalized_random(self): """Tests that axis-angle inversion return a normalized axis-angle.""" random_axis, random_angle = test_helpers.generate_random_test_axis_angle() inverse_axis, inverse_angle = axis_angle.inverse(random_axis, random_angle) self.assertAllEqual( axis_angle.is_normalized(inverse_axis, inverse_angle), np.ones(random_angle.shape))
def test_from_axis_angle_normalized_random(self): """Test that from_axis_angle produces normalized quaternions.""" random_axis, random_angle = test_helpers.generate_random_test_axis_angle() random_quaternion = quaternion.from_axis_angle(random_axis, random_angle) self.assertAllEqual( quaternion.is_normalized(random_quaternion), np.ones(shape=random_angle.shape, dtype=bool))
def test_inverse_jacobian_random(self): """Test the Jacobian of the inverse function.""" x_axis_init, x_angle_init = test_helpers.generate_random_test_axis_angle( ) self.assert_jacobian_is_correct_fn( lambda x: axis_angle.inverse(x, x_angle_init)[0], [x_axis_init]) self.assert_jacobian_is_correct_fn( lambda x: axis_angle.inverse(x_axis_init, x)[1], [x_angle_init])
def test_from_axis_angle_jacobian_random(self): """Test the Jacobian of the from_axis_angle 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) y = quaternion.from_axis_angle(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)
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_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)
def test_inverse_jacobian_random(self): """Test the Jacobian of the inverse function.""" x_axis_init, x_angle_init = test_helpers.generate_random_test_axis_angle() if tf.executing_eagerly(): # Because axis is returned as is, gradient calculation fails in graph mode # but not in eager mode. This is a side effect of having a graph rather # than a problem of the function. with self.subTest("axis"): self.assert_jacobian_is_correct_fn( lambda x: axis_angle.inverse(1.0 * x, x_angle_init)[0], [x_axis_init]) with self.subTest("angle"): self.assert_jacobian_is_correct_fn( lambda x: axis_angle.inverse(x_axis_init, x)[1], [x_angle_init])