tfg.geometry.transformation.quaternion.relative_angle

Computes the unsigned relative rotation angle between 2 unit quaternions.

tfg.geometry.transformation.quaternion.relative_angle(
    quaternion1, quaternion2, name='quaternion_relative_angle'
)

Given two normalized quanternions

$$\mathbf{q}_1$$

and

$$\mathbf{q}_2$$

, the relative angle is computed as

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

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 of `quaternion1` or `quaternion2` is not supported.

Args