def test_vector_weights_reduce_to_lerp_preset(self):
"""Tests if vector slerp reduces to lerp for identical vectors as input."""
q1 = tf.constant((_SQRT2_DIV2, 0.0, _SQRT2_DIV2, 0.0))
q2 = tf.constant((_SQRT2_DIV2, 0.0, _SQRT2_DIV2, 0.0))
p = tf.constant((0.75,), dtype=q1.dtype)
w1, w2 = slerp.vector_weights(q1, q2, p)
self.assertAllClose(w1, (0.25,), rtol=1e-6)
self.assertAllClose(w2, (0.75,), rtol=1e-6)
def test_interpolate_with_weights_vector_preset(self):
"""Compares interpolate to vector_weights + interpolate_with_weights."""
# Any quaternion is a valid vector
q1 = self._pick_random_quaternion()
q2 = q1 + tf.ones_like(q1)
weight1, weight2 = slerp.vector_weights(q1, q2, 0.75)
qf = slerp.interpolate_with_weights(q1, q2, weight1, weight2)
qi = slerp.interpolate(q1, q2, 0.75, method=slerp.InterpolationType.VECTOR)
self.assertAllClose(qf, qi, atol=1e-9)