KaneAI - World’s First E2E Software Testing Agent.Book a Demo Join TestMu Conference

How to use _assert_check method in lisa

Best Python code snippet using lisa_python

quat_affine_test.py

Source:quat_affine_test.py

...23r2t = quat_affine.rot_list_to_tensor24v2t = quat_affine.vec_list_to_tensor25q2r = lambda q: r2t(quat_affine.quat_to_rot(q))26class QuatAffineTest(absltest.TestCase):27  def _assert_check(self, to_check, tol=1e-5):28    for k, (correct, generated) in to_check.items():29      if VERBOSE:30        logging.info(k)31        logging.info('Correct %s', correct)32        logging.info('Predicted %s', generated)33      self.assertLess(np.max(np.abs(correct - generated)), tol)34  def test_conversion(self):35    quat = jnp.array([-2., 5., -1., 4.])36    rotation = jnp.array([37        [0.26087, 0.130435, 0.956522],38        [-0.565217, -0.782609, 0.26087],39        [0.782609, -0.608696, -0.130435]])40    translation = jnp.array([1., -3., 4.])41    point = jnp.array([0.7, 3.2, -2.9])42    a = quat_affine.QuatAffine(quat, translation, unstack_inputs=True)43    true_new_point = jnp.matmul(rotation, point[:, None])[:, 0] + translation44    self._assert_check({45        'rot': (rotation, r2t(a.rotation)),46        'trans': (translation, v2t(a.translation)),47        'point': (true_new_point,48                  v2t(a.apply_to_point(jnp.moveaxis(point, -1, 0)))),49        # Because of the double cover, we must be careful and compare rotations50        'quat': (q2r(a.quaternion),51                 q2r(quat_affine.rot_to_quat(a.rotation))),52    })53  def test_double_cover(self):54    """Test that -q is the same rotation as q."""55    rng = jax.random.PRNGKey(42)56    keys = jax.random.split(rng)57    q = jax.random.normal(keys[0], (2, 4))58    trans = jax.random.normal(keys[1], (2, 3))59    a1 = quat_affine.QuatAffine(q, trans, unstack_inputs=True)60    a2 = quat_affine.QuatAffine(-q, trans, unstack_inputs=True)61    self._assert_check({62        'rot': (r2t(a1.rotation),63                r2t(a2.rotation)),64        'trans': (v2t(a1.translation),65                  v2t(a2.translation)),66    })67  def test_homomorphism(self):68    rng = jax.random.PRNGKey(42)69    keys = jax.random.split(rng, 4)70    vec_q1 = jax.random.normal(keys[0], (2, 3))71    q1 = jnp.concatenate([72        jnp.ones_like(vec_q1)[:, :1],73        vec_q1], axis=-1)74    q2 = jax.random.normal(keys[1], (2, 4))75    t1 = jax.random.normal(keys[2], (2, 3))76    t2 = jax.random.normal(keys[3], (2, 3))77    a1 = quat_affine.QuatAffine(q1, t1, unstack_inputs=True)78    a2 = quat_affine.QuatAffine(q2, t2, unstack_inputs=True)79    a21 = a2.pre_compose(jnp.concatenate([vec_q1, t1], axis=-1))80    rng, key = jax.random.split(rng)81    x = jax.random.normal(key, (2, 3))82    new_x = a21.apply_to_point(jnp.moveaxis(x, -1, 0))83    new_x_apply2 = a2.apply_to_point(a1.apply_to_point(jnp.moveaxis(x, -1, 0)))84    self._assert_check({85        'quat': (q2r(quat_affine.quat_multiply(a2.quaternion, a1.quaternion)),86                 q2r(a21.quaternion)),87        'rot': (jnp.matmul(r2t(a2.rotation), r2t(a1.rotation)),88                r2t(a21.rotation)),89        'point': (v2t(new_x_apply2),90                  v2t(new_x)),91        'inverse': (x, v2t(a21.invert_point(new_x))),92    })93  def test_batching(self):94    """Test that affine applies batchwise."""95    rng = jax.random.PRNGKey(42)96    keys = jax.random.split(rng, 3)97    q = jax.random.uniform(keys[0], (5, 2, 4))98    t = jax.random.uniform(keys[1], (2, 3))99    x = jax.random.uniform(keys[2], (5, 1, 3))100    a = quat_affine.QuatAffine(q, t, unstack_inputs=True)101    y = v2t(a.apply_to_point(jnp.moveaxis(x, -1, 0)))102    y_list = []103    for i in range(5):104      for j in range(2):105        a_local = quat_affine.QuatAffine(q[i, j], t[j],106                                         unstack_inputs=True)107        y_local = v2t(a_local.apply_to_point(jnp.moveaxis(x[i, 0], -1, 0)))108        y_list.append(y_local)109    y_combine = jnp.reshape(jnp.stack(y_list, axis=0), (5, 2, 3))110    self._assert_check({111        'batch': (y_combine, y),112        'quat': (q2r(a.quaternion),113                 q2r(quat_affine.rot_to_quat(a.rotation))),114    })115  def assertAllClose(self, a, b, rtol=1e-06, atol=1e-06):116    self.assertTrue(np.allclose(a, b, rtol=rtol, atol=atol))117  def assertAllEqual(self, a, b):118    self.assertTrue(np.all(np.array(a) == np.array(b)))119if __name__ == '__main__':...

Automation Testing Tutorials

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.