tfg.geometry.transformation.quaternion.relative_angle

Computes the unsigned relative rotation angle between 2 unit quaternions.

tfg.geometry.transformation.quaternion.relative_angle(
    quaternion1: type_alias.TensorLike,
    quaternion2: type_alias.TensorLike,
    name: str = 'quaternion_relative_angle'
) -> tf.Tensor

Given two normalized quanternions $\mathbf{q}_1$ and $\mathbf{q}_2$, the relative angle is computed as $\theta = 2\arccos(\mathbf{q}_1^T\mathbf{q}_2)$.

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

Args
quaternion1	A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
quaternion2	A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
name	A name for this op that defaults to "quaternion_relative_angle".

Returns
A tensor of shape [A1, ..., An, 1] where the last dimension represents rotation angles in the range [0.0, pi].

Raises
ValueError	If the shape of quaternion1 or quaternion2 is not supported.