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Computes the unsigned relative rotation angle between 2 unit quaternions.
tfg.geometry.transformation.quaternion.relative_angle(
quaternion1, quaternion2, name=None
)
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 of quaternion1 or quaternion2 is not supported.
|