| 69 | } |
| 70 | |
| 71 | torch::Tensor createYRotationMatrixTorch(float angle_radians) { |
| 72 | float cos_angle = std::cos(angle_radians); |
| 73 | float sin_angle = std::sin(angle_radians); |
| 74 | |
| 75 | auto rotMat = torch::eye(4, torch::kFloat32); |
| 76 | rotMat[0][0] = cos_angle; |
| 77 | rotMat[0][1] = 0.0f; |
| 78 | rotMat[0][2] = sin_angle; |
| 79 | rotMat[1][0] = 0.0f; |
| 80 | rotMat[1][1] = 1.0f; |
| 81 | rotMat[1][2] = 0.0f; |
| 82 | rotMat[2][0] = -sin_angle; |
| 83 | rotMat[2][1] = 0.0f; |
| 84 | rotMat[2][2] = cos_angle; |
| 85 | |
| 86 | return rotMat; |
| 87 | } |
| 88 | |
| 89 | } // namespace |
| 90 |