tfg.geometry.transformation.quaternion.from_euler_with_small_angles_approximation

Converts small Euler angles to quaternions.

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.

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

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.

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{ "last_modified": "Last updated 2022-10-28 UTC.", "state": "" }