Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update so3.py #13

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

Update so3.py #13

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
9b56a7d
Update so3.py
zmk5 Jul 26, 2021
b64710c
Update so3.py
zmk5 Jul 26, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 6 additions & 6 deletions liegroups/numpy/so3.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,9 +78,9 @@ def from_quaternion(cls, quat, ordering='wxyz'):
if not np.isclose(np.linalg.norm(quat), 1.):
raise ValueError("Quaternion must be unit length")

if ordering is 'xyzw':
if ordering == 'xyzw':
qx, qy, qz, qw = quat
elif ordering is 'wxyz':
elif ordering == 'wxyz':
qw, qx, qy, qz = quat
else:
raise ValueError(
Expand Down Expand Up @@ -295,9 +295,9 @@ def to_quaternion(self, ordering='wxyz'):
qz = (R[1, 0] - R[0, 1]) / d

# Check ordering last
if ordering is 'xyzw':
if ordering == 'xyzw':
quat = np.array([qx, qy, qz, qw])
elif ordering is 'wxyz':
elif ordering == 'wxyz':
quat = np.array([qw, qx, qy, qz])
else:
raise ValueError(
Expand Down Expand Up @@ -384,9 +384,9 @@ class SO3Quaternion(_base.VectorLieGroupBase):
dof = 3

def from_array(self, arr, ordering='wxyz'):
if ordering is 'xyzw':
if ordering == 'xyzw':
self.data = arr[[3, 0, 1, 2]]
elif ordering is 'wxyz':
elif ordering == 'wxyz':
self.data = arr
else:
raise ValueError(
Expand Down
8 changes: 4 additions & 4 deletions liegroups/torch/so3.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,12 +68,12 @@ def from_quaternion(cls, quat, ordering='wxyz'):
if not utils.allclose(quat.norm(p=2, dim=1), 1.):
raise ValueError("Quaternions must be unit length")

if ordering is 'xyzw':
if ordering == 'xyzw':
qx = quat[:, 0]
qy = quat[:, 1]
qz = quat[:, 2]
qw = quat[:, 3]
elif ordering is 'wxyz':
elif ordering == 'wxyz':
qw = quat[:, 0]
qx = quat[:, 1]
qy = quat[:, 2]
Expand Down Expand Up @@ -359,12 +359,12 @@ def to_quaternion(self, ordering='wxyz'):
qz[far_zero_inds] = (R_fz[:, 1, 0] - R_fz[:, 0, 1]) / d

# Check ordering last
if ordering is 'xyzw':
if ordering == 'xyzw':
quat = torch.cat([qx.unsqueeze_(dim=1),
qy.unsqueeze_(dim=1),
qz.unsqueeze_(dim=1),
qw.unsqueeze_(dim=1)], dim=1).squeeze_()
elif ordering is 'wxyz':
elif ordering == 'wxyz':
quat = torch.cat([qw.unsqueeze_(dim=1),
qx.unsqueeze_(dim=1),
qy.unsqueeze_(dim=1),
Expand Down