6b36c54dbd21252989cdf14be8f3107545188d86,torchgeometry/core/conversions.py,,quaternion_to_angle_axis,#Any#,314

Before Change

    sin_theta: torch.Tensor = torch.sqrt(sin_squared)
    k_neg: torch.Tensor = 2.0 * torch.ones_like(sin_theta)
    k_pos: torch.Tensor = 2.0 * torch.atan2(sin_theta, q0) / sin_theta
    k: torch.Tensor = torch.where(sin_squared > 0.0, k_pos, k_neg)

    angle_axis: torch.Tensor = torch.zeros_like(quaternion)[..., :3]
    angle_axis[..., 0] += q1 * k

After Change

    sin_theta: torch.Tensor = torch.sqrt(sin_squared_theta)
    cos_theta: torch.Tensor = quaternion[..., 0]
    two_theta: torch.Tensor = 2.0 * torch.where(
        cos_theta < 0.0,
        torch.atan2(-sin_theta, -cos_theta),
        torch.atan2(sin_theta, cos_theta))

    k_pos: torch.Tensor = two_theta / sin_theta
    k_neg: torch.Tensor = 2.0 * torch.ones_like(sin_theta)
    k: torch.Tensor = torch.where(sin_squared_theta > 0.0, k_pos, k_neg)

Instances