Function axis_angle_to_matrix

data/rotation_utils/conversions.py:475–488

Convert rotations given as axis/angle to rotation matrices. Args: axis_angle: Rotations given as a vector in axis angle form, as a tensor of shape (..., 3), where the magnitude is the angle turned anticlockwise in radians around the vector's dire

(axis_angle: torch.Tensor)

def axis_angle_to_matrix(axis_angle: torch.Tensor) -> torch.Tensor:
    """
    Convert rotations given as axis/angle to rotation matrices.

    Args:
        axis_angle: Rotations given as a vector in axis angle form,
            as a tensor of shape (..., 3), where the magnitude is
            the angle turned anticlockwise in radians around the
            vector's direction.

    Returns:
        Rotation matrices as tensor of shape (..., 3, 3).
    """
    return quaternion_to_matrix(axis_angle_to_quaternion(axis_angle))