Development branch, release 3.17.0 - #371
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AlexanderFabisch wants to merge 30 commits into
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Co-authored-by: Alexander Fabisch <afabisch@googlemail.com>
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Previously [0, 0, 0, -1] would be normalized to [-1, 0, 0, 0].
Signed-off-by: 李永祺 <doribelove@gmail.com>
…h999/pytransform3d into jashshah999-fix-transform-log-small-rotation
Co-authored-by: Alexander Fabisch <alexander.fabisch@dfki.de>
Use arctan2 instead of arccos to extract the rotation angle in * axis_angle_from_quaternion * axis_angles_from_quaternions * axis_angle_from_two_directions * angles_between_vectors, 3D case arccos rounds angles below about 1e-8 to exactly 0 and loses relative precision well above that. Same fix as for axis_angle_from_matrix and axis_angles_from_matrices, see #377.
Fix exponential_coordinates_from_transforms and computation of angle between vectors.
Allocate the default output using both the input and norm dtypes. This retains floating-point input precision and avoids truncating normalized integer and boolean vectors. AI-assisted-by: OpenAI Codex Signed-off-by: 李永祺 <doribelove@gmail.com>
Allocate normalized axis-angle results using the input and axis-norm dtypes, preserving floating-point precision and avoiding integer truncation and sign-flip casting errors. Assisted-by: OpenAI Codex (model: GPT-6, autonomous) Signed-off-by: 李永祺 <doribelove@gmail.com>
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Features
rotationsfor converting between rotation matrices and continuous 6D rotation representation introduced by Zhou et al (CVPR 2019). Contributed by @fagg.rotation_6d_from_matrix- encode a rotation matrix as a 6D vector (its first two columns stacked)matrix_from_rotation_6d- decode a 6D vector back into a rotation matrix via Gram-Schmidt orthonormalizationBugfixes
pytransform3d.batch_rotations.matrices_from_compact_axis_angleswith precomputed axes and angles and without output buffer. Fix batch axis-angle conversion without an output buffer #373, contributed by @Doribelove.arctan2instead ofarccosto extract the rotation angle.arccosrounds angles below about 1e-8 to exactly 0 and loses relative precision well above that.pytransform3d.rotations.axis_angle_from_matrix. Fixaxis_angle_from_matrixnear 0 angle #376, merged with Keep translation in transform_log_from_transform for tiny rotations #374pytransform3d.batch_rotations.axis_angles_from_matrices. Preserve small angles in batch rotation logarithmic map #378, contributed by @Doribelovepytransform3d.rotations(axis_angle_from_quaternion,axis_angle_from_two_directions), andpytransform3d.batch_rotations(axis_angles_from_quaternions, ,angles_between_vectors, 3D case). Recover small angles from quaternions and vectors #379pytransform3d.rotations.euler_from_matrixclose to gimbal lock with the same trick. Detect gimbal lock in euler_from_matrix with arctan2 #375, contributed by @jashshah999pytransform3d.batch_rotations.norm_axis_anglesto return[1, 0, 0, 0]for all cases of no rotations. Previously,norm_axis_angles([0, 0, 0, -1])would be normalized to[-1, 0, 0, 0].pytransform3d.transformations.transform_log_from_transformfor small angles. Keep translation in transform_log_from_transform for tiny rotations #374, contributed by @jashshah999angle_between_vectorsandangles_between_vectorsto simplifytrajectories.exponential_coordinates_from_transforms. Improve numerical stability #380