tfg.geometry.transformation.axis_angle.rotate

Rotates a 3d point using an axis-angle by applying the Rodrigues' formula.

tfg.geometry.transformation.axis_angle.rotate(
    point: type_alias.TensorLike,
    axis: type_alias.TensorLike,
    angle: type_alias.TensorLike,
    name: str = &#x27;axis_angle_rotate'
) -> tf.Tensor

Rotates a vector \(\mathbf{v} \in {\mathbb{R}^3}\) into a vector \(\mathbf{v}' \in {\mathbb{R}^3}\) using the Rodrigues' rotation formula:

\[\mathbf{v}'=\mathbf{v}\cos(\theta)+(\mathbf{a}\times\mathbf{v})\sin(\theta) +\mathbf{a}(\mathbf{a}\cdot\mathbf{v})(1-\cos(\theta)).\]

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

Args
`point`	A tensor of shape `[A1, ..., An, 3]`, where the last dimension represents a 3d point to rotate.
`axis`	A tensor of shape `[A1, ..., An, 3]`, where the last dimension represents a normalized axis.
`angle`	A tensor of shape `[A1, ..., An, 1]`, where the last dimension represents an angle.
`name`	A name for this op that defaults to "axis_angle_rotate".

Returns
A tensor of shape `[A1, ..., An, 3]`, where the last dimension represents a 3d point.

Raises
`ValueError`	If `point`, `axis`, or `angle` are of different shape or if their respective shape is not supported.

tfg.geometry.transformation.axis_angle.rotate

Note

Args

Returns

Raises