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Converts small Euler angles to an axis-angle representation.
tfg.geometry.transformation.axis_angle.from_euler_with_small_angles_approximation( angles: type_alias.TensorLike, name: str = 'axis_angle_from_euler_with_small_angles_approximation' ) -> Tuple[tf.Tensor, tf.Tensor]
Under the small angle assumption,
can be approximated by their second order Taylor expansions, where
. In the current implementation, the smallness of the angles is not verified.
The conversion is performed by first converting to a quaternion representation, and then by converting the quaternion to an axis-angle.
In the following, A1 to An are optional batch dimensions.
A tensor of shape
||A name for this op that defaults to "axis_angle_from_euler_with_small_angles_approximation".|
A tuple of two tensors, respectively of shape