deepfold.utils.rigid_utils

Functions

identity_quats(batch_dims[, dtype, device, ...])
identity_rot_mats(batch_dims[, dtype, ...])
identity_trans(batch_dims[, dtype, device, ...])
invert_quat(quat)
invert_rot_mat(rot_mat)
quat_multiply(quat1, quat2)	Multiply a quaternion by another quaternion.
quat_multiply_by_vec(quat, vec)	Multiply a quaternion by a pure-vector quaternion.
quat_to_rot(quat)	Converts a quaternion to a rotation matrix.
rot_matmul(a, b)	Performs matrix multiplication of two rotation matrix tensors.
rot_to_quat(rot)
rot_vec_mul(r, t)	Applies a rotation to a vector.

Classes

Rigid(rots, trans)	A class representing a rigid transformation. Little more than a wrapper around two objects: a Rotation object and a [*, 3] translation Designed to behave approximately like a single torch tensor with the shape of the shared batch dimensions of its component parts.
Rotation([rot_mats, quats, normalize_quats])	A 3D rotation.