Computes the unsigned relative rotation angle between 2 unit quaternions.
tfg.geometry.transformation.quaternion.relative_angle(
quaternion1,
quaternion2,
name=None
)
Defined in geometry/transformation/quaternion.py.
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.
Args:
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".
Returns:
A tensor of shape [A1, ..., An, 1] where the last dimension represents
rotation angles in the range [0.0, pi].
Raises:
ValueError: If the shape ofquaternion1orquaternion2is not supported.