cleaned up quaternion functions #63
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consistency with naming
Marco-Herrmann
requested review from
JonasBreuling,
capobiag and
tianxiangdai
JonasBreuling
requested changes
Dec 10, 2025
cardillo/math/rotations.py
Outdated
| @@ -565,9 +568,9 @@ def Exp_SO3_quat(P, normalize=True): | |||
| return (p0**2 - p @ p) * eye3 + np.outer(p, 2 * p) + 2 * p0 * ax2skew(p) | |||
Contributor
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I would suggest to return return eye3 + 2 * (p0 * ax2skew(p) + ax2skew_squared(p)) in the else case. Hence, only the factor 1 / P2 changes.
cardillo/math/rotations.py
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| matrix = 2 * np.hstack((-p[:, None], p0 * eye3 - ax2skew(p))) | ||
| if normalize: | ||
| return (2 / (P @ P)) * np.hstack((-p[:, None], p0 * eye3 - ax2skew(p))) | ||
| return matrix / (P @ P) |
Contributor
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Similar for Exp_SO3_quat.
complete exclusion of the combination "non-unit quaternion" + normalize=False
JonasBreuling
approved these changes
Dec 15, 2025
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consistent assumption of unit quaternion for normalize=False
consistency with naming: capitalized "_P" in Exp_SO3_quat_P