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tfg.geometry.transformation.quaternion.from_euler

Converts an Euler angle representation to a quaternion.

tfg.geometry.transformation.quaternion.from_euler(
    angles,
    name=None
)

Defined in geometry/transformation/quaternion.py.

Note:

Uses the z-y-x rotation convention (Tait-Bryan angles).

Note:

In the following, A1 to An are optional batch dimensions.

Args:

  • angles: A tensor of shape [A1, ..., An, 3], where the last dimension represents the three Euler angles. [..., 0] is the angle about x in radians, [..., 1] is the angle about y in radians and [..., 2] is the angle about z in radians.
  • name: A name for this op that defaults to "quaternion_from_euler".

Returns:

A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.

Raises:

  • ValueError: If the shape of angles is not supported.