rotation

src/beignet/_rotation_matrix_to_rotation_quaternion.py

@@ -82,7 +82,7 @@ def rotation_matrix_to_rotation_quaternion(
             c = output[j, 2]
             d = output[j, 3]
 
-            if d == 0 and (a == 0 and (b == 0 and c < 0 or b < 0) or a < 0) or d < 0:
+            if d == 0 and (a == 0 & (b == 0 & c < 0 | b < 0) | a < 0) | d < 0:
                 output[j] = -output[j]
 
     return output

src/beignet/_rotation_quaternion_magnitude.py

@@ -8,37 +8,30 @@ def rotation_quaternion_magnitude(input: Tensor, canonical=False) -> Tensor:
 
     Parameters
     ----------
-    input : Tensor, shape (..., 4)
+    input : Tensor, shape=(..., 4)
         Rotation quaternions.
 
     Returns
     -------
-    rotation_quaternion_magnitudes: Tensor, shape (...)
+    output : Tensor, shape=(...)
         Angles in radians. Magnitudes will be in the range :math:`[0, \pi]`.
     """
-    angles = torch.empty(
+    output = torch.empty(
         input.shape[0],
         dtype=input.dtype,
         layout=input.layout,
         device=input.device,
         requires_grad=input.requires_grad,
     )
 
-    for index in range(input.shape[0]):
-        angles[index] = torch.multiply(
-            torch.atan2(
-                torch.sqrt(
-                    torch.add(
-                        torch.add(
-                            torch.square(input[index, 0]),
-                            torch.square(input[index, 1]),
-                        ),
-                        torch.square(input[index, 2]),
-                    ),
-                ),
-                torch.abs(input[index, 3]),
-            ),
-            2.0,
-        )
-
-    return angles
+    for j in range(input.shape[0]):
+        a = input[j, 0]
+        b = input[j, 1]
+        c = input[j, 2]
+        d = input[j, 3]
+
+        x = torch.atan2(torch.sqrt(a**2 + b**2 + c**2), torch.abs(d))
+
+        output[j] = x * 2.0
+
+    return output

src/beignet/_rotation_vector_to_rotation_quaternion.py

@@ -65,7 +65,7 @@ def rotation_vector_to_rotation_quaternion(
             c = output[j, 2]
             d = output[j, 3]
 
-            if d == 0 and (a == 0 and (b == 0 and c < 0 or b < 0) or a < 0) or d < 0:
+            if d == 0 and (a == 0 & (b == 0 & c < 0 | b < 0) | a < 0) | d < 0:
                 output[j] = -output[j]
 
     return output