def cumQuat2(bs, t, qc):
cumulativeBi = bs.getLocalCumulativeBi(t)
ci = bs.localCoefficientVectorIndices(t)
qci = qc[:, ci]
rval = qci[:, 0]
for i in range(0, len(ci) - 1):
dqi = qdot(qinv(qci[:, i]), qci[:, i + 1])
ldqi = qlog(dqi)
rval = qdot(rval, qexp(ldqi * cumulativeBi[i + 1]))
return rval
def cumQuat2(bs,t,qc):
cumulativeBi = bs.getLocalCumulativeBi(t);
ci = bs.localCoefficientVectorIndices(t)
qci = qc[:,ci]
rval = qci[:,0]
for i in range(0,len(ci) - 1):
dqi = qdot(qinv(qci[:,i]),qci[:,i+1])
ldqi = qlog(dqi)
rval= qdot(rval, qexp(ldqi * cumulativeBi[i+1]))
return rval
def cumQuat(bs, t, qc):
si = bs.segmentIndex(t)
Mi = bs.Mi(si)
u = bs.u(t, 0)
bi = np.dot(u.T, Mi)
cumulativeBi = bs.getCumulativeBiFunction(t)
ci = bs.localCoefficientVectorIndices(t)
qci = qc[:, ci]
rval = qci[:, 0]
for i in range(0, len(ci) - 1):
dqi = qdot(qinv(qci[:, i]), qci[:, i + 1])
ldqi = qlog(dqi)
tildeB = np.sum(bi[i + 1:])
diff = tildeB - cumulativeBi(int(ci[i] + 1))
if abs(diff) > 1e-9:
print(diff)
rval = qdot(rval, qexp(ldqi * tildeB))
return rval
def cumQuat(bs,t,qc):
si = bs.segmentIndex(t)
Mi = bs.Mi(si)
u = bs.u(t,0)
bi = np.dot(u.T,Mi)
cumulativeBi = bs.getCumulativeBiFunction(t);
ci = bs.localCoefficientVectorIndices(t)
qci = qc[:,ci]
rval = qci[:,0]
for i in range(0,len(ci) - 1):
dqi = qdot(qinv(qci[:,i]),qci[:,i+1])
ldqi = qlog(dqi)
tildeB = np.sum(bi[i+1:])
diff = tildeB - cumulativeBi(int(ci[i]+1))
if abs(diff) > 1e-9 :
print diff
rval= qdot(rval, qexp(ldqi * tildeB))
return rval