def transform_pose(xyz,quat,F):
x,y,z = xyz
xp, yp, zp = F.eval(np.r_[x],np.r_[y],np.r_[z]).T
jac = F.grad(np.r_[x],np.r_[y],np.r_[z])[0]
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
new_rot_mat_orth = np.linalg.qr(new_rot_mat)[0]
new_quat = conv.mat2quat(new_rot_mat_orth)
return np.r_[xp,yp,zp], new_quat
def transform_poses(pvec_n7, tps33): x_n, y_n, z_n = pvec_n7[:,:3].T quat_n4 = pvec_n7[:,3:7] xp_n, yp_n, zp_n = tps33.eval(x_n, y_n, z_n).T grad_n33 = tps33.grad(x_n, y_n, z_n) mats_n33 = [conv.quat2mat(quat) for quat in quat_n4] tmats_n33 = [np.dot(g,p) for (g,p) in zip(grad_n33, mats_n33)] tmats_n33 = [np.linalg.qr(mat)[0] for mat in tmats_n33] tquats_n4 = [conv.mat2quat(mat) for mat in tmats_n33] return np.c_[xp_n, yp_n, zp_n, tquats_n4]
def transform_poses(xyzs,quats,F):
x,y,z = xyzs.T
xyzp = F.eval(x,y,z)
jacs = F.grad(x,y,z)
new_quats = []
for (quat,jac) in zip(quats,jacs):
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
q,r = np.linalg.qr(new_rot_mat.T)
new_rot_mat_orth = np.sign(np.diag(r))[:,None]* q.T
new_quat = conv.mat2quat(new_rot_mat_orth)
new_quats.append(new_quat)
return xyzp, np.array(new_quats)
