skshapes.morphing.rigid_motion.axis_angle_to_quaternion

skshapes.morphing.rigid_motion.axis_angle_to_quaternion(axis_angle)

Convert rotations given as axis/angle to quaternions.

Parameters:

axis_angle (Tensor) – Rotations given as a vector in axis angle form, as a tensor of shape (…, 3), where the magnitude is the angle turned anticlockwise in radians around the vector’s direction.

Returns:

Quaternions with real part first, as tensor of shape (…, 4).

Return type:

torch.Tensor