rotation

Genentech · Apr 8, 2024 · de3de68 · de3de68
1 parent ab3c77d
commit de3de68
Showing 1 changed file with 4 additions and 14 deletions.
diff --git a/src/beignet/ops/_geometry/_transformations/_rotations/_compose_rotation_quaternion.py b/src/beignet/ops/_geometry/_transformations/_rotations/_compose_rotation_quaternion.py
@@ -39,20 +39,10 @@ def compose_rotation_quaternion(
     )
 
     for j in range(max(input.shape[0], other.shape[0])):
-        a = input[j, 0]
-        b = input[j, 1]
-        d = input[j, 2]
-        s = input[j, 3]
-
-        t = other[j, 0]
-        u = other[j, 1]
-        c = other[j, 2]
-        w = other[j, 3]
-
-        output[j, 0] = s * t + w * a + b * c - d * u
-        output[j, 1] = s * u + w * b + d * t - a * c
-        output[j, 2] = s * c + w * d + a * u - b * t
-        output[j, 3] = s * w - a * t - b * u - d * c
+        output[j, 0] = input[j, 3] * other[j, 0] + other[j, 3] * input[j, 0] + input[j, 1] * other[j, 2] - input[j, 2] * other[j, 1]  # fmt: skip
+        output[j, 1] = input[j, 3] * other[j, 1] + other[j, 3] * input[j, 1] + input[j, 2] * other[j, 0] - input[j, 0] * other[j, 2]  # fmt: skip
+        output[j, 2] = input[j, 3] * other[j, 2] + other[j, 3] * input[j, 2] + input[j, 0] * other[j, 1] - input[j, 1] * other[j, 0]  # fmt: skip
+        output[j, 3] = input[j, 3] * other[j, 3] - input[j, 0] * other[j, 0] - input[j, 1] * other[j, 1] - input[j, 2] * other[j, 2]  # fmt: skip
 
         x = torch.sqrt(output[j, 0] ** 2.0 + output[j, 1] ** 2.0 + output[j, 2] ** 2.0 + output[j, 3] ** 2.0)  # fmt: skip