pypose.rotation¶
- pypose.rotation(inputs)[source]¶
Extract the rotation part from a
LieTensor.- Parameters
inputs (
LieTensor) – the input LieTensor.- Returns
the batched quaternions.
- Return type
SO3
Example
>>> x = pp.randn_SE3(2) >>> x.rotation() SO3Type LieTensor: tensor([[-0.8302, 0.5200, -0.0056, 0.2006], [-0.2541, -0.3184, 0.6305, 0.6607]])
