common module
Quaternion Math
Quaternion helper functions:
- quat_from_coeffs()
- quat_to_coeffs()
- quat_from_angle_axis()
- quat_to_angle_axis()
- quat_from_two_vectors()
- angle_between_quats()
- quat_rotate_vector()
Misc
- colorize_ids()
Functions
- def angle_between_quats(q1: quaternion.quaternion.quaternion, q2: quaternion.quaternion.quaternion) -> float
- Computes the angular distance between two quaternions
- def colorize_ids(ids)
- def download_and_unzip(file_url, local_directory)
- def quat_from_angle_axis(theta: float, axis: numpy.ndarray) -> quaternion.quaternion.quaternion
- Creates a quaternion from angle axis format
- def quat_from_coeffs(coeffs: typing.Union[typing.Sequence[float], numpy.ndarray]) -> quaternion.quaternion.quaternion
- Creates a quaternion from the coeffs returned by the simulator backend
- def quat_from_magnum(quat: magnum.Quaternion) -> quaternion.quaternion.quaternion
- def quat_from_two_vectors(v0: numpy.ndarray, v1: numpy.ndarray) -> quaternion.quaternion.quaternion
- Creates a quaternion that rotates the first vector onto the second vector
- def quat_rotate_vector(q: quaternion.quaternion.quaternion, v: numpy.ndarray) -> numpy.ndarray
- Helper function to rotate a vector by a quaternion
- def quat_to_angle_axis(quat: quaternion.quaternion.quaternion) -> typing.Tuple[float, numpy.ndarray]
- Converts a quaternion to angle axis format
- def quat_to_coeffs(quat: quaternion.quaternion.quaternion) -> numpy.ndarray
- Converts a quaternion into the coeffs format the backend expects
- def quat_to_magnum(quat: quaternion.quaternion.quaternion) -> magnum.Quaternion
- def random_quaternion()
- Convenience function to sample a random Magnum::Quaternion. See http://planning.cs.uiuc.edu/node198.html.
Data
- d3_40_colors_hex: typing.List[str] = …
- Color map for semantic ID rendering.
- d3_40_colors_rgb: numpy.ndarray = …
- Color map for semantic ID rendering.
Function documentation
def habitat_sim.
Computes the angular distance between two quaternions
| Returns | The angular distance between q1 and q2 in radians |
|---|
def habitat_sim.
Creates a quaternion from angle axis format
| Parameters | |
|---|---|
| theta | The angle to rotate about the axis by |
| axis | The axis to rotate about |
| Returns | The quaternion |
def habitat_sim.
Creates a quaternion from the coeffs returned by the simulator backend
| Parameters | |
|---|---|
| coeffs | Coefficients of a quaternion in [b, c, d, a] format,
where |
| Returns | A quaternion from the coeffs |
def habitat_sim.
Creates a quaternion that rotates the first vector onto the second vector
| Parameters | |
|---|---|
| v0 | The starting vector, does not need to be a unit vector |
| v1 | The end vector, does not need to be a unit vector |
| Returns | The quaternion |
Calculates the quaternion q such that
v1 = quat_rotate_vector(q, v0)
def habitat_sim.
Helper function to rotate a vector by a quaternion
| Parameters | |
|---|---|
| q | The quaternion to rotate the vector with |
| v | The vector to rotate |
| Returns | The rotated vector |
Does
v = (q * qt.quaternion(0, *v) * q.inverse()).imag
def habitat_sim.
Converts a quaternion to angle axis format
| Parameters | |
|---|---|
| quat | The quaternion |
| Returns |
|
def habitat_sim.
Converts a quaternion into the coeffs format the backend expects
| Parameters | |
|---|---|
| quat | The quaternion |
| Returns | Coefficients of a quaternion in [b, c, d, a] format,
where |
Data documentation
habitat_sim.
Color map for semantic ID rendering.
Same as d3_40_colors_rgb, but in a hexadecimal representation.
d3_40_colors_hex: List[str] = [ "0x1f77b4", "0xaec7e8", "0xff7f0e", "0xffbb78", "0x2ca02c", "0x98df8a", "0xd62728", "0xff9896", "0x9467bd", "0xc5b0d5", "0x8c564b", "0xc49c94", "0xe377c2", "0xf7b6d2", "0x7f7f7f", "0xc7c7c7", "0xbcbd22", "0xdbdb8d", "0x17becf", "0x9edae5", "0x393b79", "0x5254a3", "0x6b6ecf", "0x9c9ede", "0x637939", "0x8ca252", "0xb5cf6b", "0xcedb9c", "0x8c6d31", "0xbd9e39", "0xe7ba52", "0xe7cb94", "0x843c39", "0xad494a", "0xd6616b", "0xe7969c", "0x7b4173", "0xa55194", "0xce6dbd", "0xde9ed6", ]