Loading...
Searching...
No Matches
Quaternion Class Reference
A batched quaternion. More...
Detailed Description
A batched quaternion.
Our convention is s q1 q2 q3, i.e. the scalar part first
The storage space is (4,).
Currently we only use this for data storage, so the only method needed is to convert it to an R2
#include <Quaternion.h>
Inheritance diagram for Quaternion:
Public Member Functions | |
| Quaternion (const Rot &r) | |
| Scalar | operator() (Size i) const |
| Accessor. | |
| R2 | to_R2 () const |
| Convert to R2. | |
| Scalar | dot (const Quaternion &other) const |
| Dot product. | |
| Scalar | dist (const Quaternion &other) const |
| Distance measure between two quaternions. | |
 Public Member Functions inherited from PrimitiveTensor< Quaternion, 4 > | |
| PrimitiveTensor ()=default | |
| Default constructor. | |
| PrimitiveTensor (const torch::Tensor &tensor, Size batch_dim) | |
| Construct from another torch::Tensor given batch dimension. | |
| PrimitiveTensor (const torch::Tensor &tensor, const TraceableTensorShape &batch_shape) | |
| Construct from another torch::Tensor given batch shape. | |
| PrimitiveTensor (const TensorBase< Derived2 > &tensor) | |
| Copy constructor. | |
| PrimitiveTensor (const torch::Tensor &tensor) | |
| Construct from another torch::Tensor and infer batch dimension. | |
| operator Tensor () const | |
| Implicit conversion to a Tensor and loses information on the fixed base shape. | |
| Public Member Functions inherited from TensorBase< Derived > | |
| TensorBase ()=default | |
| Default constructor. | |
| TensorBase (const torch::Tensor &tensor, Size batch_dim) | |
| Construct from another torch::Tensor with given batch dimension. | |
| TensorBase (const torch::Tensor &tensor, const TraceableTensorShape &batch_shape) | |
| Construct from another torch::Tensor with given batch shape. | |
| template<class Derived2 > | |
| TensorBase (const TensorBase< Derived2 > &tensor) | |
| Copy constructor. | |
| TensorBase (Real)=delete | |
| Derived | variable_data () const |
| Derived | clone (torch::MemoryFormat memory_format=torch::MemoryFormat::Contiguous) const |
| Derived | detach () const |
| Discard function graph. | |
| Derived | to (const torch::TensorOptions &options) const |
| Change tensor options. | |
| Derived | operator- () const |
| Negation. | |
| bool | batched () const |
| Whether the tensor is batched. | |
| Size | batch_dim () const |
| Return the number of batch dimensions. | |
| Size | base_dim () const |
| Return the number of base dimensions. | |
| const TraceableTensorShape & | batch_sizes () const |
| Return the batch size. | |
| TraceableSize | batch_size (Size index) const |
| Return the size of a batch axis. | |
| TensorShapeRef | base_sizes () const |
| Return the base size. | |
| Size | base_size (Size index) const |
| Return the size of a base axis. | |
| Size | base_storage () const |
| Return the flattened storage needed just for the base indices. | |
| Derived | batch_index (indexing::TensorIndicesRef indices) const |
| Get a tensor by slicing on the batch dimensions. | |
| neml2::Tensor | base_index (indexing::TensorIndicesRef indices) const |
| Get a tensor by slicing on the base dimensions. | |
| void | batch_index_put_ (indexing::TensorIndicesRef indices, const torch::Tensor &other) |
| void | batch_index_put_ (indexing::TensorIndicesRef indices, Real v) |
| void | base_index_put_ (indexing::TensorIndicesRef indices, const torch::Tensor &other) |
| void | base_index_put_ (indexing::TensorIndicesRef indices, Real v) |
| Derived | batch_expand (const TraceableTensorShape &batch_shape) const |
| Derived | batch_expand (const TraceableSize &batch_size, Size dim) const |
| Return a new view of the tensor with values broadcast along a given batch dimension. | |
| neml2::Tensor | base_expand (TensorShapeRef base_shape) const |
| Return a new view of the tensor with values broadcast along the base dimensions. | |
| neml2::Tensor | base_expand (Size base_size, Size dim) const |
| Return a new view of the tensor with values broadcast along a given base dimension. | |
| template<class Derived2 > | |
| Derived | batch_expand_as (const Derived2 &other) const |
| Expand the batch to have the same shape as another tensor. | |
| template<class Derived2 > | |
| Derived2 | base_expand_as (const Derived2 &other) const |
| Expand the base to have the same shape as another tensor. | |
| Derived | batch_expand_copy (const TraceableTensorShape &batch_shape) const |
| Return a new tensor with values broadcast along the batch dimensions. | |
| neml2::Tensor | base_expand_copy (TensorShapeRef base_shape) const |
| Return a new tensor with values broadcast along the base dimensions. | |
| Derived | batch_reshape (const TraceableTensorShape &batch_shape) const |
| Reshape batch dimensions. | |
| neml2::Tensor | base_reshape (TensorShapeRef base_shape) const |
| Reshape base dimensions. | |
| Derived | batch_unsqueeze (Size d) const |
| Unsqueeze a batch dimension. | |
| neml2::Tensor | base_unsqueeze (Size d) const |
| Unsqueeze a base dimension. | |
| Derived | batch_transpose (Size d1, Size d2) const |
| Transpose two batch dimensions. | |
| neml2::Tensor | base_transpose (Size d1, Size d2) const |
| Transpose two base dimensions. | |
| neml2::Tensor | base_flatten () const |
| Flatten base dimensions. | |
Static Public Member Functions | |
| static Quaternion | fill (const Scalar &s, const Scalar &q1, const Scalar &q2, const Scalar &q3) |
| fill with four scalars | |
| static Quaternion | fill (const Real &s, const Real &q1, const Real &q2, const Real &q3, const torch::TensorOptions &options=default_tensor_options()) |
| fill with four reals | |
| Static Public Member Functions inherited from PrimitiveTensor< Quaternion, 4 > | |
| static Quaternion | empty (const torch::TensorOptions &options=default_tensor_options()) |
| Unbatched empty tensor. | |
| static Quaternion | empty (const TraceableTensorShape &batch_shape, const torch::TensorOptions &options=default_tensor_options()) |
| Empty tensor given batch shape. | |
| static Quaternion | zeros (const torch::TensorOptions &options=default_tensor_options()) |
| Unbatched zero tensor. | |
| static Quaternion | zeros (const TraceableTensorShape &batch_shape, const torch::TensorOptions &options=default_tensor_options()) |
| Zero tensor given batch shape. | |
| static Quaternion | ones (const torch::TensorOptions &options=default_tensor_options()) |
| Unbatched unit tensor. | |
| static Quaternion | ones (const TraceableTensorShape &batch_shape, const torch::TensorOptions &options=default_tensor_options()) |
| Unit tensor given batch shape. | |
| static Quaternion | full (Real init, const torch::TensorOptions &options=default_tensor_options()) |
| Unbatched tensor filled with a given value given base shape. | |
| static Quaternion | full (const TraceableTensorShape &batch_shape, Real init, const torch::TensorOptions &options=default_tensor_options()) |
| Full tensor given batch shape. | |
| static Tensor | identity_map (const torch::TensorOptions &) |
| Derived tensor classes should define identity_map where appropriate. | |
| Static Public Member Functions inherited from TensorBase< Derived > | |
| static Derived | empty_like (const Derived &other) |
| Empty tensor like another, i.e. same batch and base shapes, same tensor options, etc. | |
| static Derived | zeros_like (const Derived &other) |
| Zero tensor like another, i.e. same batch and base shapes, same tensor options, etc. | |
| static Derived | ones_like (const Derived &other) |
| Unit tensor like another, i.e. same batch and base shapes, same tensor options, etc. | |
| static Derived | full_like (const Derived &other, Real init) |
| static Derived | linspace (const Derived &start, const Derived &end, Size nstep, Size dim=0) |
Create a new tensor by adding a new batch dimension with linear spacing between start and end. | |
| static Derived | logspace (const Derived &start, const Derived &end, Size nstep, Size dim=0, Real base=10) |
| log-space equivalent of the linspace named constructor | |
Additional Inherited Members | |
| Static Public Attributes inherited from PrimitiveTensor< Quaternion, 4 > | |
| static const TensorShape | const_base_sizes |
| The base shape. | |
| static constexpr Size | const_base_dim |
| The base dim. | |
| static const Size | const_base_storage |
| The base storage. | |
Constructor & Destructor Documentation
◆ Quaternion()
| Quaternion | ( | const Rot & | r | ) |
Member Function Documentation
◆ dist()
| Scalar dist | ( | const Quaternion & | other | ) | const |
Distance measure between two quaternions.
◆ dot()
| Scalar dot | ( | const Quaternion & | other | ) | const |
Dot product.
◆ fill() [1/2]
|
static |
fill with four reals
◆ fill() [2/2]
|
static |
fill with four scalars
