xax 0.3.0__tar.gz → 0.3.1__tar.gz

{xax-0.3.0/xax.egg-info → xax-0.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: xax
-Version: 0.3.0
+Version: 0.3.1
 Summary: A library for fast Jax experimentation
 Home-page: https://github.com/kscalelabs/xax
 Author: Benjamin Bolte

{xax-0.3.0 → xax-0.3.1}/xax/__init__.py

@@ -12,7 +12,7 @@ and running the update script:
     python -m scripts.update_api --inplace
 """
 
-__version__ = "0.3.0"
+__version__ = "0.3.1"
 
 # This list shouldn't be modified by hand; instead, run the update script.
 __all__ = [
@@ -44,6 +44,7 @@ __all__ = [
     "normalize",
     "quat_to_euler",
     "quat_to_rotmat",
+    "quat_mul",
     "rotate_vector_by_quat",
     "rotation6d_to_rotation_matrix",
     "rotation_matrix_to_rotation6d",
@@ -225,6 +226,7 @@ NAME_MAP: dict[str, str] = {
     "normalize": "nn.geom",
     "quat_to_euler": "nn.geom",
     "quat_to_rotmat": "nn.geom",
+    "quat_mul": "nn.geom",
     "rotate_vector_by_quat": "nn.geom",
     "rotation6d_to_rotation_matrix": "nn.geom",
     "rotation_matrix_to_rotation6d": "nn.geom",
@@ -398,6 +400,7 @@ if IMPORT_ALL or TYPE_CHECKING:
         euler_to_quat,
         get_projected_gravity_vector_from_quat,
         normalize,
+        quat_mul,
         quat_to_euler,
         quat_to_rotmat,
         rotate_vector_by_quat,

{xax-0.3.0 → xax-0.3.1}/xax/nn/geom.py

@@ -251,3 +251,24 @@ def rotation_matrix_to_rotation6d(rotation_matrix: jnp.ndarray) -> jnp.ndarray:
     # Simply concatenate a1 and a2 from SO(3)
     r6d = jnp.concatenate([rotation_matrix[..., 0], rotation_matrix[..., 1]], axis=-1)
     return r6d.reshape(shape[:-2] + (6,))
+
+
+def quat_mul(q2: Array, q1: Array) -> Array:
+    """Multiply two quaternions (supports batching).
+
+    Args:
+        q2: Second quaternion (w, x, y, z), shape (..., 4)
+        q1: First quaternion (w, x, y, z), shape (..., 4)
+
+    Returns:
+        Product quaternion, shape (..., 4)
+    """
+    w1, x1, y1, z1 = jnp.split(q1, 4, axis=-1)
+    w2, x2, y2, z2 = jnp.split(q2, 4, axis=-1)
+
+    w = w2 * w1 - x2 * x1 - y2 * y1 - z2 * z1
+    x = w2 * x1 + x2 * w1 + y2 * z1 - z2 * y1
+    y = w2 * y1 - x2 * z1 + y2 * w1 + z2 * x1
+    z = w2 * z1 + x2 * y1 - y2 * x1 + z2 * w1
+
+    return jnp.concatenate([w, x, y, z], axis=-1)

{xax-0.3.0 → xax-0.3.1/xax.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: xax
-Version: 0.3.0
+Version: 0.3.1
 Summary: A library for fast Jax experimentation
 Home-page: https://github.com/kscalelabs/xax
 Author: Benjamin Bolte