q0: starting quaternion q1: ending quaternion t: array of points along the way Returns: Tensor of Slerps: t.shape + q0.shape

Apply the rotation given by a quaternion to a 3D point. Usual torch rules for broadcasting apply. Args: quaternion: Tensor of qu

Apply the rotation given by a quaternion to a 3D point. Usual torch rules for broadcasting apply. Args: quaternion: Tensor of qu

Multiply two quaternions representing rotations, returning the quaternion representing their composition, i.e. the versor with nonnegative re

Multiply two quaternions representing rotations, returning the quaternion representing their composition, i.e. the versor with nonnegative re

Generate a single random 3x3 rotation matrix. Args: dtype: Type to return device: Device of returned tensor. Default: if Non

Generate a single random 3x3 rotation matrix. Args: dtype: Type to return device: Device of returned tensor. Default: if Non

Recover joint positions from the given motion capture data using root rotation information. Args: data (torch.Tensor): Input motion

Convert 6D rotation representation to 3x3 rotation matrix. Based on Zhou et al., "On the Continuity of Rotation Representations in Neural Networks

Converts 6D rotation representation by Zhou et al. [1] to rotation matrix using Gram--Schmidt orthogonalisation per Section B of [1]. Arg

This function is borrowed from https://github.com/kornia/kornia Convert 3x4 rotation matrix to Rodrigues vector Args: rotation_

Update the losses