tfg.geometry.transformation.dual_quaternion.from_axis_angle_translation

Converts an axis-angle rotation and translation to a dual quaternion.

tfg.geometry.transformation.dual_quaternion.from_axis_angle_translation(
    axis: type_alias.TensorLike,
    angle: type_alias.TensorLike,
    translation_vector: type_alias.TensorLike,
    name: str = 'dual_quat_from_axis_angle_trans'
) -> type_alias.TensorLike

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

Args
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.
translation_vector	A [A1, ..., An, 3]-tensor, where the last dimension represents a translation vector.
name	A name for this op that defaults to "dual_quat_from_axis_angle_trans".

Returns
A [A1, ..., An, 8]-tensor, where the last dimension represents a normalized dual quaternion.

Raises
ValueError	If the shape of axis, angle, or translation_vector is not supported.