Language

unilab.tasks.motion_tracking.common.tensor_rotation¶

Device-resident rotation primitives shared by tensor task owners.

Functions

`quat_apply`(quat_wxyz, vector)	Apply broadcast-compatible wxyz quaternions to vectors.
`quat_apply_inverse`(quat_wxyz, vector)	Rotate vectors by the inverse of broadcast-compatible unit quaternions.
`quat_conjugate`(quat_wxyz)	Conjugate broadcast-compatible unit quaternions in wxyz order.
`quat_from_euler_xyz`(roll, pitch, yaw)	Convert broadcast-compatible XYZ Euler angles to wxyz quaternions.
`quat_mul`(left_wxyz, right_wxyz)	Multiply broadcast-compatible wxyz quaternions without a host detour.
`quat_roll_pitch`(quat_wxyz)	Return roll and pitch in radians from broadcast-compatible wxyz quaternions.
`quat_to_axis_angle`(quat_wxyz)	Convert batched unit wxyz quaternions to axis-angle vectors.
`quat_to_rot6`(quat_wxyz)	Flatten the first two rotation-matrix columns of wxyz quaternions.

unilab.tasks.motion_tracking.common.tensor_rotation.quat_apply(quat_wxyz, vector)[source]¶

Apply broadcast-compatible wxyz quaternions to vectors.

Parameters:

Return type:

Tensor

unilab.tasks.motion_tracking.common.tensor_rotation.quat_apply_inverse(quat_wxyz, vector)[source]¶

Rotate vectors by the inverse of broadcast-compatible unit quaternions.

Parameters:

Return type:

Tensor

unilab.tasks.motion_tracking.common.tensor_rotation.quat_conjugate(quat_wxyz)[source]¶

Conjugate broadcast-compatible unit quaternions in wxyz order.

unilab.tasks.motion_tracking.common.tensor_rotation.quat_from_euler_xyz(roll, pitch, yaw)[source]¶

Convert broadcast-compatible XYZ Euler angles to wxyz quaternions.

Parameters:

Return type:

Tensor

unilab.tasks.motion_tracking.common.tensor_rotation.quat_mul(left_wxyz, right_wxyz)[source]¶

Multiply broadcast-compatible wxyz quaternions without a host detour.

Parameters:

Return type:

Tensor

unilab.tasks.motion_tracking.common.tensor_rotation.quat_roll_pitch(quat_wxyz)[source]¶

Return roll and pitch in radians from broadcast-compatible wxyz quaternions.

unilab.tasks.motion_tracking.common.tensor_rotation.quat_to_axis_angle(quat_wxyz)[source]¶

Convert batched unit wxyz quaternions to axis-angle vectors.

This follows the NumPy owner’s canonicalized atan2/Taylor form so tensor observations preserve the established numerical semantics near zero angle.

unilab.tasks.motion_tracking.common.tensor_rotation.quat_to_rot6(quat_wxyz)[source]¶

Flatten the first two rotation-matrix columns of wxyz quaternions.