Function qinv

mogen/datasets/pipelines/quaternion.py:18–22

(q)

def qinv(q):
    assert q.shape[-1] == 4, 'q must be a tensor of shape (*, 4)'
    mask = torch.ones_like(q)
    mask[..., 1:] = -mask[..., 1:]
    return q * mask


def qinv_np(q):