Euler backward test

naver · Apr 19, 2024 · d5eabcc · d5eabcc
1 parent 4b8740d
commit d5eabcc
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/test/test_euler.py b/test/test_euler.py
@@ -80,7 +80,16 @@ def test_euler_rotmat_consistency(self):
                         else:
                             self.assertTrue(all([torch.all(angle > -np.pi) and torch.all(angle <= np.pi) for angle in angles]))
                         q1 = roma.euler_to_rotmat(convention, angles, degrees=degrees)
-                        self.assertTrue(torch.all(roma.rotmat_geodesic_distance(q, q1) < 1e-6))                                             
+                        self.assertTrue(torch.all(roma.rotmat_geodesic_distance(q, q1) < 1e-6))
+
+    def test_euler_backward(self):
+        for intrinsics in (True, False):
+            for convention in ["".join(permutation) for permutation in itertools.permutations('xyz')] + ["xyx", "xzx", "yxy", "yzy", "zxz", "zyz"]:
+                if intrinsics:
+                    convention = convention.upper()
+                    rotvec = torch.randn(3, requires_grad=True)
+                    angles = roma.rotvec_to_euler('xyz', rotvec)
+                    sum(angles).backward()
 
 if __name__ == "__main__":
     unittest.main()