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:

[legend]

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
	Special member functions.

	PrimitiveTensor (const ATensor &tensor, Size batch_dim)
	Construct from another ATensor given batch dimension.

	PrimitiveTensor (const ATensor &tensor, const TraceableTensorShape &batch_shape)
	Construct from another ATensor given batch shape.

	PrimitiveTensor (const Tensor &tensor)
	Copy constructor.

	PrimitiveTensor (const ATensor &tensor)
	Construct from another ATensor 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< Quaternion >
	TensorBase ()=default
	Special member functions.

	TensorBase (const ATensor &tensor, Size batch_dim)
	Construct from another ATensor with given batch dimension.

	TensorBase (const ATensor &tensor, const TraceableTensorShape &batch_shape)
	Construct from another ATensor with given batch shape.

	TensorBase (const neml2::Tensor &tensor)
	Copy constructor.

	TensorBase (Real)=delete

Quaternion	variable_data () const

Quaternion	clone () const

Quaternion	detach () const
	Discard function graph.

Quaternion	to (const TensorOptions &options) const
	Change tensor options.

Quaternion	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.

Quaternion	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.

Quaternion	batch_slice (Size dim, const indexing::Slice &index) const
	Get a tensor by slicing along a batch dimension.

neml2::Tensor	base_slice (Size dim, const indexing::Slice &index) const
	Get a tensor by slicing along a base dimension.

void	batch_index_put_ (indexing::TensorIndicesRef indices, const ATensor &other)

void	batch_index_put_ (indexing::TensorIndicesRef indices, Real v)

void	base_index_put_ (indexing::TensorIndicesRef indices, const ATensor &other)

void	base_index_put_ (indexing::TensorIndicesRef indices, Real v)

Quaternion	batch_expand (const TraceableTensorShape &batch_shape) const

Quaternion	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.

Quaternion	batch_expand_as (const neml2::Tensor &other) const
	Expand the batch to have the same shape as another tensor.

neml2::Tensor	base_expand_as (const neml2::Tensor &other) const
	Expand the base to have the same shape as another tensor.

Quaternion	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.

Quaternion	batch_reshape (const TraceableTensorShape &batch_shape) const
	Reshape batch dimensions.

neml2::Tensor	base_reshape (TensorShapeRef base_shape) const
	Reshape base dimensions.

Quaternion	batch_unsqueeze (Size d) const
	Unsqueeze a batch dimension.

neml2::Tensor	base_unsqueeze (Size d) const
	Unsqueeze a base dimension.

Quaternion	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 TensorOptions &options=default_tensor_options())
	fill with four reals

Static Public Member Functions inherited from PrimitiveTensor< Quaternion, 4 >
static Quaternion	create (const TensorDataContainer &data, const TensorOptions &options=default_tensor_options())
	Arbitrary tensor from a nested container with inferred batch dimension.

static Quaternion	empty (const TensorOptions &options=default_tensor_options())
	Unbatched empty tensor.

static Quaternion	empty (const TraceableTensorShape &batch_shape, const TensorOptions &options=default_tensor_options())
	Empty tensor given batch shape.

static Quaternion	zeros (const TensorOptions &options=default_tensor_options())
	Unbatched zero tensor.

static Quaternion	zeros (const TraceableTensorShape &batch_shape, const TensorOptions &options=default_tensor_options())
	Zero tensor given batch shape.

static Quaternion	ones (const TensorOptions &options=default_tensor_options())
	Unbatched unit tensor.

static Quaternion	ones (const TraceableTensorShape &batch_shape, const TensorOptions &options=default_tensor_options())
	Unit tensor given batch shape.

static Quaternion	full (Real init, const 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 TensorOptions &options=default_tensor_options())
	Full tensor given batch shape.

static Tensor	identity_map (const TensorOptions &)
	Derived tensor classes should define identity_map where appropriate.

Static Public Member Functions inherited from TensorBase< Quaternion >
static Quaternion	empty_like (const Quaternion &other)

static Quaternion	zeros_like (const Quaternion &other)
	Zero tensor like another, i.e. same batch and base shapes, same tensor options, etc.

static Quaternion	ones_like (const Quaternion &other)
	Unit tensor like another, i.e. same batch and base shapes, same tensor options, etc.

static Quaternion	full_like (const Quaternion &other, Real init)

static Quaternion	linspace (const Quaternion &start, const Quaternion &end, Size nstep, Size dim=0)
	Create a new tensor by adding a new batch dimension with linear spacing between `start` and `end`.

static Quaternion	logspace (const Quaternion &start, const Quaternion &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]

Quaternion fill	(	const Real &	s,
		const Real &	q1,
		const Real &	q2,
		const Real &	q3,
		const TensorOptions &	options = default_tensor_options() )

static

fill with four reals

◆ fill() [2/2]

Quaternion fill	(	const Scalar &	s,
		const Scalar &	q1,
		const Scalar &	q2,
		const Scalar &	q3 )

static

fill with four scalars

◆ operator()()

Scalar operator() ( Size i ) const

Accessor.

◆ to_R2()

R2 to_R2 ( ) const

Convert to R2.