tfg.geometry.transformation.axis_angle.from_quaternion

Converts a quaternion to an axis-angle representation.

tfg.geometry.transformation.axis_angle.from_quaternion(
    quaternion: type_alias.TensorLike,
    name: str = 'axis_angle_from_quaternion'
) -> Tuple[tf.Tensor, tf.Tensor]

Note
In the following, A1 to An are optional batch dimensions.

Args
quaternion	A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
name	A name for this op that defaults to "axis_angle_from_quaternion".

Returns
Tuple of two tensors of shape [A1, ..., An, 3] and [A1, ..., An, 1], where the first tensor represents the axis, and the second represents the angle. The resulting axis is a normalized vector.

Raises
ValueError	If the shape of quaternion is not supported.