tfg.geometry.transformation.quaternion.relative_angle

Computes the unsigned relative rotation angle between 2 unit quaternions.

tfg.geometry.transformation.quaternion.relative_angle(
    quaternion1: type_alias.TensorLike,
    quaternion2: type_alias.TensorLike,
    name: str = 'quaternion_relative_angle'
) -> tf.Tensor

Given two normalized quanternions

$$\mathbf{q}_1$$

and

$$\mathbf{q}_2$$

, the relative angle is computed as

$$\theta = 2\arccos(\mathbf{q}_1^T\mathbf{q}_2)$$

.

Note:

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

quaternion1 A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
quaternion2 A tensor of shape [A1, ..., An, 4], where the last dimension represents a normalized quaternion.
name A name for this op that defaults to "quaternion_relative_angle".

A tensor of shape [A1, ..., An, 1] where the last dimension represents rotation angles in the range [0.0, pi].

ValueError If the shape of quaternion1 or quaternion2 is not supported.