mindsponge.common.quat_to_rot

mindsponge.common.quat_to_rot(normalized_quat, use_numpy=False)

Convert a normalized quaternion to a rotation matrix.

$$\begin{array}{r}\begin{array}{rl}& xx=1-2\ast y\ast y-2\ast z\ast z\\ & xy=2\ast x\ast y+2\ast w\ast z\\ & xz=2\ast x\ast z-2\ast w\ast y\\ & yx=2\ast x\ast y-2\ast w\ast z\\ & yy=1-2\ast x\ast x-2\ast z\ast z\\ & yz=2\ast z\ast y+2\ast w\ast x\\ & zx=2\ast x\ast z+2\ast w\ast y\\ & zy=2\ast y\ast z-2\ast w\ast x\\ & zz=1-2\ast x\ast x-2\ast y\ast y\end{array}\end{array}$$

Parameters

• normalized_quat (tensor) – normalized quaternion, shape $(N_{res},4)$.

• use_numpy (bool) – use numpy or not, Default: “False”.

Returns

tuple, rotation $(xx,xy,xz,yx,yy,yz,zx,zy,zz)$, every element shape $(N_{res},)$.

Supported Platforms:

Ascend GPU

Examples

>>> import numpy as np
>>> import mindspore as ms
>>> from mindspore import Tensor
>>> from mindsponge.common.geometry import quat_to_rot
>>> input_0 = Tensor(np.ones((256, 4)), ms.float32)
>>> output = quat_to_rot(input_0)
>>> print(len(output), output[0].shape)
9, (256,)