rotation

Genentech · Apr 10, 2024 · d19bbc6 · d19bbc6
1 parent d47d98c
commit d19bbc6
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diff --git a/pyproject.toml b/pyproject.toml
@@ -31,9 +31,6 @@ select = [
     "W",  # PYCODESTYLE WARNINGS
 ]
 
-[tool.ruff.format]
-docstring-code-format = true
-
 [tool.ruff.lint.per-file-ignores]
 "__init__.py" = [
     "F401", # MODULE IMPORTED BUT UNUSED

diff --git a/src/beignet/ops/__init__.py b/src/beignet/ops/__init__.py
@@ -39,9 +39,9 @@
     rotation_vector_to_euler_angle,
     rotation_vector_to_quaternion,
     rotation_vector_to_rotation_matrix,
+    slerp,
     translation_identity,
 )
-from ._interpolation import slerp
 
 __all__ = [
     "apply_euler_angle",

diff --git a/src/beignet/ops/_geometry/__init__.py b/src/beignet/ops/_geometry/__init__.py
@@ -39,5 +39,6 @@
     rotation_vector_to_euler_angle,
     rotation_vector_to_quaternion,
     rotation_vector_to_rotation_matrix,
+    slerp,
     translation_identity,
 )
diff --git a/src/beignet/ops/_geometry/_transformations/__init__.py b/src/beignet/ops/_geometry/_transformations/__init__.py
@@ -1,43 +1,60 @@
-from ._rotations import (
-    apply_euler_angle,
+from ._apply_euler_angle import apply_euler_angle
+from ._apply_quaternion import (
     apply_quaternion,
-    apply_rotation_matrix,
-    apply_rotation_vector,
-    compose_euler_angle,
-    compose_quaternion,
-    compose_rotation_matrix,
-    compose_rotation_vector,
-    euler_angle_identity,
-    euler_angle_magnitude,
-    euler_angle_mean,
+)
+from ._apply_rotation_matrix import apply_rotation_matrix
+from ._apply_rotation_vector import apply_rotation_vector
+from ._compose_euler_angle import compose_euler_angle
+from ._compose_quaternion import compose_quaternion
+from ._compose_rotation_matrix import compose_rotation_matrix
+from ._compose_rotation_vector import compose_rotation_vector
+from ._euler_angle_identity import euler_angle_identity
+from ._euler_angle_magnitude import euler_angle_magnitude
+from ._euler_angle_mean import euler_angle_mean
+from ._euler_angle_to_quaternion import (
     euler_angle_to_quaternion,
-    euler_angle_to_rotation_matrix,
-    euler_angle_to_rotation_vector,
-    invert_euler_angle,
-    invert_quaternion,
-    invert_rotation_matrix,
-    invert_rotation_vector,
-    quaternion_identity,
-    quaternion_magnitude,
-    quaternion_mean,
+)
+from ._euler_angle_to_rotation_matrix import euler_angle_to_rotation_matrix
+from ._euler_angle_to_rotation_vector import euler_angle_to_rotation_vector
+from ._invert_euler_angle import invert_euler_angle
+from ._invert_quaternion import invert_quaternion
+from ._invert_rotation_matrix import invert_rotation_matrix
+from ._invert_rotation_vector import invert_rotation_vector
+from ._quaternion_identity import quaternion_identity
+from ._quaternion_magnitude import quaternion_magnitude
+from ._quaternion_mean import quaternion_mean
+from ._quaternion_to_euler_angle import (
     quaternion_to_euler_angle,
+)
+from ._quaternion_to_rotation_matrix import (
     quaternion_to_rotation_matrix,
+)
+from ._quaternion_to_rotation_vector import (
     quaternion_to_rotation_vector,
-    random_euler_angle,
-    random_quaternion,
-    random_rotation_matrix,
-    random_rotation_vector,
-    rotation_matrix_identity,
-    rotation_matrix_magnitude,
-    rotation_matrix_mean,
-    rotation_matrix_to_euler_angle,
+)
+from ._random_euler_angle import random_euler_angle
+from ._random_quaternion import random_quaternion
+from ._random_rotation_matrix import random_rotation_matrix
+from ._random_rotation_vector import random_rotation_vector
+from ._rotation_matrix_identity import rotation_matrix_identity
+from ._rotation_matrix_magnitude import rotation_matrix_magnitude
+from ._rotation_matrix_mean import rotation_matrix_mean
+from ._rotation_matrix_to_euler_angle import rotation_matrix_to_euler_angle
+from ._rotation_matrix_to_quaternion import (
     rotation_matrix_to_quaternion,
+)
+from ._rotation_matrix_to_rotation_vector import (
     rotation_matrix_to_rotation_vector,
-    rotation_vector_identity,
-    rotation_vector_magnitude,
-    rotation_vector_mean,
-    rotation_vector_to_euler_angle,
+)
+from ._rotation_vector_identity import rotation_vector_identity
+from ._rotation_vector_magnitude import rotation_vector_magnitude
+from ._rotation_vector_mean import rotation_vector_mean
+from ._rotation_vector_to_euler_angle import rotation_vector_to_euler_angle
+from ._rotation_vector_to_quaternion import (
     rotation_vector_to_quaternion,
+)
+from ._rotation_vector_to_rotation_matrix import (
     rotation_vector_to_rotation_matrix,
 )
-from ._translations import translation_identity
+from ._slerp import slerp
+from ._translation_identity import translation_identity
diff --git a/...rmations/_rotations/_apply_euler_angle.py → ...ry/_transformations/_apply_euler_angle.py b/...rmations/_rotations/_apply_euler_angle.py → ...ry/_transformations/_apply_euler_angle.py
diff --git a/...ormations/_rotations/_apply_quaternion.py → ...try/_transformations/_apply_quaternion.py b/...ormations/_rotations/_apply_quaternion.py → ...try/_transformations/_apply_quaternion.py
@@ -1,9 +1,9 @@
 from torch import Tensor
 
+from ._apply_rotation_matrix import apply_rotation_matrix
 from ._quaternion_to_rotation_matrix import (
     quaternion_to_rotation_matrix,
 )
-from ._apply_rotation_matrix import apply_rotation_matrix
 
 
 def apply_quaternion(

diff --git a/...ions/_rotations/_apply_rotation_matrix.py → ...transformations/_apply_rotation_matrix.py b/...ions/_rotations/_apply_rotation_matrix.py → ...transformations/_apply_rotation_matrix.py
diff --git a/...ions/_rotations/_apply_rotation_vector.py → ...transformations/_apply_rotation_vector.py b/...ions/_rotations/_apply_rotation_vector.py → ...transformations/_apply_rotation_vector.py
@@ -1,12 +1,12 @@
 from torch import Tensor
 
+from ._apply_rotation_matrix import apply_rotation_matrix
 from ._quaternion_to_rotation_matrix import (
     quaternion_to_rotation_matrix,
 )
 from ._rotation_vector_to_quaternion import (
     rotation_vector_to_quaternion,
 )
-from ._apply_rotation_matrix import apply_rotation_matrix
 
 
 def apply_rotation_vector(

diff --git a/...ations/_rotations/_compose_euler_angle.py → .../_transformations/_compose_euler_angle.py b/...ations/_rotations/_compose_euler_angle.py → .../_transformations/_compose_euler_angle.py
@@ -1,6 +1,7 @@
 from torch import Tensor
-from ._euler_angle_to_quaternion import euler_angle_to_quaternion
+
 from ._compose_quaternion import compose_quaternion
+from ._euler_angle_to_quaternion import euler_angle_to_quaternion
 from ._quaternion_to_euler_angle import quaternion_to_euler_angle
 
 

diff --git a/...mations/_rotations/_compose_quaternion.py → ...y/_transformations/_compose_quaternion.py b/...mations/_rotations/_compose_quaternion.py → ...y/_transformations/_compose_quaternion.py
diff --git a/...ns/_rotations/_compose_rotation_matrix.py → ...ansformations/_compose_rotation_matrix.py b/...ns/_rotations/_compose_rotation_matrix.py → ...ansformations/_compose_rotation_matrix.py
@@ -1,7 +1,7 @@
 from torch import Tensor
 
-from ._quaternion_to_rotation_matrix import quaternion_to_rotation_matrix
 from ._compose_quaternion import compose_quaternion
+from ._quaternion_to_rotation_matrix import quaternion_to_rotation_matrix
 from ._rotation_matrix_to_quaternion import rotation_matrix_to_quaternion
 
 

diff --git a/...ns/_rotations/_compose_rotation_vector.py → ...ansformations/_compose_rotation_vector.py b/...ns/_rotations/_compose_rotation_vector.py → ...ansformations/_compose_rotation_vector.py
@@ -1,6 +1,7 @@
 from torch import Tensor
-from ._quaternion_to_rotation_vector import quaternion_to_rotation_vector
+
 from ._compose_quaternion import compose_quaternion
+from ._quaternion_to_rotation_vector import quaternion_to_rotation_vector
 from ._rotation_vector_to_quaternion import rotation_vector_to_quaternion
 
 

diff --git a/...tions/_rotations/_euler_angle_identity.py → ..._transformations/_euler_angle_identity.py b/...tions/_rotations/_euler_angle_identity.py → ..._transformations/_euler_angle_identity.py
diff --git a/...ions/_rotations/_euler_angle_magnitude.py → ...transformations/_euler_angle_magnitude.py b/...ions/_rotations/_euler_angle_magnitude.py → ...transformations/_euler_angle_magnitude.py
diff --git a/...ormations/_rotations/_euler_angle_mean.py → ...try/_transformations/_euler_angle_mean.py b/...ormations/_rotations/_euler_angle_mean.py → ...try/_transformations/_euler_angle_mean.py
diff --git a/.../_rotations/_euler_angle_to_quaternion.py → ...sformations/_euler_angle_to_quaternion.py b/.../_rotations/_euler_angle_to_quaternion.py → ...sformations/_euler_angle_to_quaternion.py
diff --git a/...ations/_euler_angle_to_rotation_matrix.py → ...ations/_euler_angle_to_rotation_matrix.py b/...ations/_euler_angle_to_rotation_matrix.py → ...ations/_euler_angle_to_rotation_matrix.py
diff --git a/...ations/_euler_angle_to_rotation_vector.py → ...ations/_euler_angle_to_rotation_vector.py b/...ations/_euler_angle_to_rotation_vector.py → ...ations/_euler_angle_to_rotation_vector.py
diff --git a/...mations/_rotations/_invert_euler_angle.py → ...y/_transformations/_invert_euler_angle.py b/...mations/_rotations/_invert_euler_angle.py → ...y/_transformations/_invert_euler_angle.py
diff --git a/...rmations/_rotations/_invert_quaternion.py → ...ry/_transformations/_invert_quaternion.py b/...rmations/_rotations/_invert_quaternion.py → ...ry/_transformations/_invert_quaternion.py
diff --git a/...ons/_rotations/_invert_rotation_matrix.py → ...ransformations/_invert_rotation_matrix.py b/...ons/_rotations/_invert_rotation_matrix.py → ...ransformations/_invert_rotation_matrix.py
diff --git a/...ons/_rotations/_invert_rotation_vector.py → ...ransformations/_invert_rotation_vector.py b/...ons/_rotations/_invert_rotation_vector.py → ...ransformations/_invert_rotation_vector.py
diff --git a/...ations/_rotations/_quaternion_identity.py → .../_transformations/_quaternion_identity.py b/...ations/_rotations/_quaternion_identity.py → .../_transformations/_quaternion_identity.py
diff --git a/...tions/_rotations/_quaternion_magnitude.py → ..._transformations/_quaternion_magnitude.py b/...tions/_rotations/_quaternion_magnitude.py → ..._transformations/_quaternion_magnitude.py
diff --git a/...formations/_rotations/_quaternion_mean.py → ...etry/_transformations/_quaternion_mean.py b/...formations/_rotations/_quaternion_mean.py → ...etry/_transformations/_quaternion_mean.py
diff --git a/.../_rotations/_quaternion_to_euler_angle.py → ...sformations/_quaternion_to_euler_angle.py b/.../_rotations/_quaternion_to_euler_angle.py → ...sformations/_quaternion_to_euler_angle.py
diff --git a/...tations/_quaternion_to_rotation_matrix.py → ...mations/_quaternion_to_rotation_matrix.py b/...tations/_quaternion_to_rotation_matrix.py → ...mations/_quaternion_to_rotation_matrix.py
diff --git a/...tations/_quaternion_to_rotation_vector.py → ...mations/_quaternion_to_rotation_vector.py b/...tations/_quaternion_to_rotation_vector.py → ...mations/_quaternion_to_rotation_vector.py
diff --git a/...mations/_rotations/_random_euler_angle.py → ...y/_transformations/_random_euler_angle.py b/...mations/_rotations/_random_euler_angle.py → ...y/_transformations/_random_euler_angle.py
@@ -1,10 +1,10 @@
 import torch
 from torch import Generator, Tensor
 
-from ._random_quaternion import random_quaternion
 from ._quaternion_to_euler_angle import (
     quaternion_to_euler_angle,
 )
+from ._random_quaternion import random_quaternion
 
 
 def random_euler_angle(

diff --git a/...rmations/_rotations/_random_quaternion.py → ...ry/_transformations/_random_quaternion.py b/...rmations/_rotations/_random_quaternion.py → ...ry/_transformations/_random_quaternion.py
diff --git a/...ons/_rotations/_random_rotation_matrix.py → ...ransformations/_random_rotation_matrix.py b/...ons/_rotations/_random_rotation_matrix.py → ...ransformations/_random_rotation_matrix.py
@@ -1,10 +1,10 @@
 import torch
 from torch import Generator, Tensor
 
-from ._random_quaternion import random_quaternion
 from ._quaternion_to_rotation_matrix import (
     quaternion_to_rotation_matrix,
 )
+from ._random_quaternion import random_quaternion
 
 
 def random_rotation_matrix(

diff --git a/...ons/_rotations/_random_rotation_vector.py → ...ransformations/_random_rotation_vector.py b/...ons/_rotations/_random_rotation_vector.py → ...ransformations/_random_rotation_vector.py
@@ -1,10 +1,10 @@
 import torch
 from torch import Generator, Tensor
 
-from ._random_quaternion import random_quaternion
 from ._quaternion_to_rotation_vector import (
     quaternion_to_rotation_vector,
 )
+from ._random_quaternion import random_quaternion
 
 
 def random_rotation_vector(

diff --git a/...s/_rotations/_rotation_matrix_identity.py → ...nsformations/_rotation_matrix_identity.py b/...s/_rotations/_rotation_matrix_identity.py → ...nsformations/_rotation_matrix_identity.py
diff --git a/.../_rotations/_rotation_matrix_magnitude.py → ...sformations/_rotation_matrix_magnitude.py b/.../_rotations/_rotation_matrix_magnitude.py → ...sformations/_rotation_matrix_magnitude.py
@@ -1,9 +1,9 @@
 from torch import Tensor
 
+from ._quaternion_magnitude import quaternion_magnitude
 from ._rotation_matrix_to_quaternion import (
     rotation_matrix_to_quaternion,
 )
-from ._quaternion_magnitude import quaternion_magnitude
 
 
 def rotation_matrix_magnitude(input: Tensor) -> Tensor:

diff --git a/...tions/_rotations/_rotation_matrix_mean.py → ..._transformations/_rotation_matrix_mean.py b/...tions/_rotations/_rotation_matrix_mean.py → ..._transformations/_rotation_matrix_mean.py
diff --git a/...ations/_rotation_matrix_to_euler_angle.py → ...ations/_rotation_matrix_to_euler_angle.py b/...ations/_rotation_matrix_to_euler_angle.py → ...ations/_rotation_matrix_to_euler_angle.py
@@ -1,11 +1,11 @@
 from torch import Tensor
 
-from ._rotation_matrix_to_quaternion import (
-    rotation_matrix_to_quaternion,
-)
 from ._quaternion_to_euler_angle import (
     quaternion_to_euler_angle,
 )
+from ._rotation_matrix_to_quaternion import (
+    rotation_matrix_to_quaternion,
+)
 
 
 def rotation_matrix_to_euler_angle(

diff --git a/...tations/_rotation_matrix_to_quaternion.py → ...mations/_rotation_matrix_to_quaternion.py b/...tations/_rotation_matrix_to_quaternion.py → ...mations/_rotation_matrix_to_quaternion.py
diff --git a/...ns/_rotation_matrix_to_rotation_vector.py → ...ns/_rotation_matrix_to_rotation_vector.py b/...ns/_rotation_matrix_to_rotation_vector.py → ...ns/_rotation_matrix_to_rotation_vector.py
@@ -1,11 +1,11 @@
 from torch import Tensor
 
-from ._rotation_matrix_to_quaternion import (
-    rotation_matrix_to_quaternion,
-)
 from ._quaternion_to_rotation_vector import (
     quaternion_to_rotation_vector,
 )
+from ._rotation_matrix_to_quaternion import (
+    rotation_matrix_to_quaternion,
+)
 
 
 def rotation_matrix_to_rotation_vector(

diff --git a/...s/_rotations/_rotation_vector_identity.py → ...nsformations/_rotation_vector_identity.py b/...s/_rotations/_rotation_vector_identity.py → ...nsformations/_rotation_vector_identity.py
diff --git a/.../_rotations/_rotation_vector_magnitude.py → ...sformations/_rotation_vector_magnitude.py b/.../_rotations/_rotation_vector_magnitude.py → ...sformations/_rotation_vector_magnitude.py
diff --git a/...tions/_rotations/_rotation_vector_mean.py → ..._transformations/_rotation_vector_mean.py b/...tions/_rotations/_rotation_vector_mean.py → ..._transformations/_rotation_vector_mean.py
diff --git a/...ations/_rotation_vector_to_euler_angle.py → ...ations/_rotation_vector_to_euler_angle.py b/...ations/_rotation_vector_to_euler_angle.py → ...ations/_rotation_vector_to_euler_angle.py
diff --git a/...tations/_rotation_vector_to_quaternion.py → ...mations/_rotation_vector_to_quaternion.py b/...tations/_rotation_vector_to_quaternion.py → ...mations/_rotation_vector_to_quaternion.py
diff --git a/...ns/_rotation_vector_to_rotation_matrix.py → ...ns/_rotation_vector_to_rotation_matrix.py b/...ns/_rotation_vector_to_rotation_matrix.py → ...ns/_rotation_vector_to_rotation_matrix.py
diff --git a/src/beignet/ops/_geometry/_transformations/_rotations/__init__.py b/src/beignet/ops/_geometry/_transformations/_rotations/__init__.py
diff --git a/src/beignet/ops/_interpolation/_slerp.py → .../ops/_geometry/_transformations/_slerp.py b/src/beignet/ops/_interpolation/_slerp.py → .../ops/_geometry/_transformations/_slerp.py
@@ -47,7 +47,7 @@ def slerp(
 
     out : Tensor
         Output.
-    """
+    """  # noqa: E501
     if time.shape[-1] != rotation.shape[-2]:
         raise ValueError("`times` and `rotations` must match in size.")
 

diff --git a/...ns/_translations/_translation_identity.py → ..._transformations/_translation_identity.py b/...ns/_translations/_translation_identity.py → ..._transformations/_translation_identity.py
diff --git a/src/beignet/ops/_geometry/_transformations/_translations/__init__.py b/src/beignet/ops/_geometry/_transformations/_translations/__init__.py
diff --git a/src/beignet/ops/_interpolation/__init__.py b/src/beignet/ops/_interpolation/__init__.py
diff --git a/...ons/_rotations/test__apply_euler_angle.py → ...ransformations/test__apply_euler_angle.py b/...ons/_rotations/test__apply_euler_angle.py → ...ransformations/test__apply_euler_angle.py
@@ -1,8 +1,8 @@
+import beignet.ops
 import hypothesis.extra.numpy
 import hypothesis.strategies
 import numpy
 import torch.testing
-import beignet.ops
 from scipy.spatial.transform import Rotation
 
 

diff --git a/...ions/_rotations/test__apply_quaternion.py → ...transformations/test__apply_quaternion.py b/...ions/_rotations/test__apply_quaternion.py → ...transformations/test__apply_quaternion.py
@@ -1,8 +1,8 @@
+import beignet.ops
 import hypothesis.extra.numpy
 import hypothesis.strategies
 import numpy
 import torch.testing
-import beignet.ops
 from scipy.spatial.transform import Rotation
 
 

diff --git a/..._rotations/test__apply_rotation_matrix.py → ...formations/test__apply_rotation_matrix.py b/..._rotations/test__apply_rotation_matrix.py → ...formations/test__apply_rotation_matrix.py
@@ -1,8 +1,8 @@
+import beignet.ops
 import hypothesis.extra.numpy
 import hypothesis.strategies
 import numpy
 import torch.testing
-import beignet.ops
 from scipy.spatial.transform import Rotation
 
 

diff --git a/..._rotations/test__apply_rotation_vector.py → ...formations/test__apply_rotation_vector.py b/..._rotations/test__apply_rotation_vector.py → ...formations/test__apply_rotation_vector.py
@@ -1,8 +1,8 @@
+import beignet.ops
 import hypothesis.extra.numpy
 import hypothesis.strategies
 import numpy
 import torch.testing
-import beignet.ops
 from scipy.spatial.transform import Rotation
 
 

diff --git a/...s/_rotations/test__compose_euler_angle.py → ...nsformations/test__compose_euler_angle.py b/...s/_rotations/test__compose_euler_angle.py → ...nsformations/test__compose_euler_angle.py
@@ -1,7 +1,8 @@
+import operator
+
+import beignet.ops
 import hypothesis.strategies
 import torch.testing
-import beignet.ops
-import operator
 from scipy.spatial.transform import Rotation
 
 

diff --git a/...ns/_rotations/test__compose_quaternion.py → ...ansformations/test__compose_quaternion.py b/...ns/_rotations/test__compose_quaternion.py → ...ansformations/test__compose_quaternion.py
@@ -1,7 +1,8 @@
+import operator
+
+import beignet.ops
 import hypothesis.strategies
 import torch.testing
-import beignet.ops
-import operator
 from scipy.spatial.transform import Rotation
 
 

diff --git a/...otations/test__compose_rotation_matrix.py → ...rmations/test__compose_rotation_matrix.py b/...otations/test__compose_rotation_matrix.py → ...rmations/test__compose_rotation_matrix.py
@@ -1,7 +1,8 @@
+import operator
+
+import beignet.ops
 import hypothesis.strategies
 import torch.testing
-import beignet.ops
-import operator
 from scipy.spatial.transform import Rotation