Advance a time varying quaternion to its value at a time `timestep` in the future. The Quaternion object will be modified to its future value

Generator method to get an iterable sequence of `n` evenly spaced quaternion rotations between any two existing quaternion endpoints lying on

Inverse of the quaternion object, encapsulated in a new instance. For a unit quaternion, this is the inverse rotation, i.e. when combined wit

Get a unit quaternion (versor) copy of this Quaternion object. A unit quaternion has a `norm` of 1.0 Returns: A new Quat

Returns the unit vector and angle of a non-scalar quaternion according to the following decomposition q = q.norm() * (e ** (q.polar

Enforce quaternion continuity across the time dimension by selecting the representation (q or -q) with minimal distance (or, equivalently, ma

Rotate a 3D vector by the rotation stored in the Quaternion object. Params: vector: A 3-vector specified as any ordered sequence

Get the 3x3 rotation matrix equivalent of the quaternion rotation. Returns: A 3x3 orthogonal rotation matrix as a 3x3 Numpy array

Return the real or scalar component of the quaternion object. Returns: A real number i.e. float

Quaternion symmetrized distance. Find the intrinsic symmetrized geodesic distance between q0 and q1. Params: q0: the fir

Quaternion symmetrized exponential map. Find the symmetrized exponential map on the quaternion Riemannian manifold. Params:

This code uses a modification of the algorithm described in: https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01

Get the 4x4 homogeneous transformation matrix equivalent of the quaternion rotation. Returns: A 4x4 homogeneous transformation ma

Return the imaginary or vector component of the quaternion object. Returns: A numpy 3-array of floats. NOT guaranteed to be a un

The function is designed for pytorch multi-process dataloader. Note that we use the pytorch random generator to generate a base_seed.

Get the equivalent yaw-pitch-roll angles aka. intrinsic Tait-Bryan angles following the z-y'-x'' convention Returns: yaw: rota