tfg.geometry.transformation.quaternion.from_euler_with_small_angles_approximation

Converts small Euler angles to quaternions.

tfg.geometry.transformation.quaternion.from_euler_with_small_angles_approximation(
    angles: type_alias.TensorLike,
    name: str = 'quaternion_from_euler'
) -> tf.Tensor

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.

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".

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

ValueError If the shape of angles is not supported.