deepfold.utils.geometry.rotation_matrix.Rot3Array

class deepfold.utils.geometry.rotation_matrix.Rot3Array(xx: Tensor, xy: Tensor, xz: Tensor, yx: Tensor, yy: Tensor, yz: Tensor, zx: Tensor, zy: Tensor, zz: Tensor)

Rot3Array Matrix in 3 dimensional Space implemented as struct of arrays.

__init__(xx: Tensor, xy: Tensor, xz: Tensor, yx: Tensor, yy: Tensor, yz: Tensor, zx: Tensor, zy: Tensor, zz: Tensor) → None

Methods

__init__(xx, xy, xz, yx, yy, yz, zx, zy, zz)
apply_inverse_to_point(point)	Applies inverse Rot3Array to point.
apply_to_point(point)	Applies Rot3Array to point.
cat(rots, dim)
from_array(array)	Construct Rot3Array Matrix from array of shape.
from_quaternion(w, x, y, z[, normalize, eps])	Construct Rot3Array from components of quaternion.
from_two_vectors(e0, e1)	Construct Rot3Array from two Vectors.
identity(shape, device)	Returns identity of given shape.
inverse()	Returns inverse of Rot3Array.
map_tensor_fn(fn)
reshape(new_shape)
stop_gradient()
to_tensor()	Convert Rot3Array to array of shape [..., 3, 3].
unsqueeze(dim)

Attributes

xx
xy
xz
yx
yy
yz
zx
zy
zz