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Converts small Euler angles to quaternions.
tfg.geometry.transformation.quaternion.from_euler_with_small_angles_approximation(
angles, name=None
)
Under the small angle assumption,
$$\sin(x)$$
and
$$\cos(x)$$
can be approximated by their second order Taylor expansions, where
$$\sin(x) \approx x$$
and
$$\cos(x) \approx 1 - \frac{x^2}{2}$$
. In the current implementation, the smallness of the angles is not verified.
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.
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Raises | |
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ValueError
|
If the shape of angles is not supported.
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