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tfg.geometry.transformation.quaternion.rotate

Rotates a point using a quaternion.

tfg.geometry.transformation.quaternion.rotate(
    point,
    quaternion,
    name=None
)

Defined in geometry/transformation/quaternion.py.

Note:

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

Args:

  • point: A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point.
  • quaternion: 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_rotate".

Returns:

A tensor of shape [A1, ..., An, 3], where the last dimension represents a 3d point.

Raises:

  • ValueError: If the shape of point or quaternion is not supported.