Function quaternion_to_axis_angle

motion_rep/rotation_transform.py:82–90

Convert 4d quaternion to 3d vector of axis-angle rotation. Shape: - Input: :Torch:`(..., 4)` - Output: :Torch:`(..., 3)`

(quaternion)

    return axis_angle

def quaternion_to_axis_angle(quaternion):
    """
    Convert 4d quaternion to 3d vector of axis-angle rotation.
    Shape:
        - Input: :Torch:`(..., 4)`
        - Output: :Torch:`(..., 3)`
    """
    angle_axis = tgm.quaternion_to_angle_axis(quaternion)
    return angle_axis

def axis_angle_to_quaternion(angle_axis):
    """