tfg.geometry.transformation.quaternion.relative_angle
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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.
|
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Last updated 2022-10-28 UTC.
[null,null,["Last updated 2022-10-28 UTC."],[],[],null,["# tfg.geometry.transformation.quaternion.relative_angle\n\n|-------------------------------------------------------------------------------------------------------------------------------------------------|\n| [View source on GitHub](https://github.com/tensorflow/graphics/blob/master/tensorflow_graphics/geometry/transformation/quaternion.py#L618-L661) |\n\nComputes the unsigned relative rotation angle between 2 unit quaternions. \n\n tfg.geometry.transformation.quaternion.relative_angle(\n quaternion1: type_alias.TensorLike,\n quaternion2: type_alias.TensorLike,\n name: str = 'quaternion_relative_angle'\n ) -\u003e tf.Tensor\n\nGiven two normalized quanternions \\\\(\\\\mathbf{q}_1\\\\) and \\\\(\\\\mathbf{q}_2\\\\), the\nrelative angle is computed as\n\\\\(\\\\theta = 2\\\\arccos(\\\\mathbf{q}_1\\^T\\\\mathbf{q}_2)\\\\).\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n| Note ---- ||\n|---|---|\n| In the following, A1 to An are optional batch dimensions. ||\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n| Args ---- ||\n|---------------|----------------------------------------------------------------------------------------------------|\n| `quaternion1` | A tensor of shape `[A1, ..., An, 4]`, where the last dimension represents a normalized quaternion. |\n| `quaternion2` | A tensor of shape `[A1, ..., An, 4]`, where the last dimension represents a normalized quaternion. |\n| `name` | A name for this op that defaults to \"quaternion_relative_angle\". |\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n| Returns ------- ||\n|---|---|\n| A tensor of shape `[A1, ..., An, 1]` where the last dimension represents rotation angles in the range \\[0.0, pi\\]. ||\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n\u003cbr /\u003e\n\n| Raises ------ ||\n|--------------|------------------------------------------------------------------|\n| `ValueError` | If the shape of `quaternion1` or `quaternion2` is not supported. |\n\n\u003cbr /\u003e"]]
View source on GitHub