tfg.geometry.transformation.dual_quaternion.from_rotation_translation

Converts a rotation matrix and translation vector to a dual quaternion.

tfg.geometry.transformation.dual_quaternion.from_rotation_translation(
    rotation_quaternion: type_alias.TensorLike,
    translation_vector: type_alias.TensorLike,
    name: str = 'dual_quaternion_from_rotation_translation'
) -> tf.Tensor

Warning
This function is not smooth everywhere.

Note
In the following, A1 to An are optional batch dimensions. Rotation is applied first.

Args
rotation_quaternion	A [A1, ..., An, 4]-tensor, where the last dimension represents a rotation in the form a quaternion.
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_quaternion_from_rot_trans".

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

Raises
ValueError	If the shape of rotation_matrix is not supported.