Computes quaternion over the shortest arc between two vectors.
tfg.geometry.transformation.quaternion.between_two_vectors_3d(
vector1,
vector2,
name=None
)
Defined in geometry/transformation/quaternion.py
.
Result quaternion describes shortest geodesic rotation from vector1 to vector2.
Note:
In the following, A1 to An are optional batch dimensions.
Args:
vector1
: A tensor of shape[A1, ..., An, 3]
, where the last dimension represents the first vector.vector2
: A tensor of shape[A1, ..., An, 3]
, where the last dimension represents the second vector.name
: A name for this op that defaults to "quaternion_between_two_vectors_3d".
Returns:
A tensor of shape [A1, ..., An, 4]
, where the last dimension represents
a normalized quaternion.
Raises:
ValueError
: If the shape ofvector1
orvector2
is not supported.