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Added constrained uniform sampling of angles for SE3, SO3, and Quaternions #139

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Merged
myeatman-bdai merged 9 commits into from
Oct 11, 2024
Merged

Added constrained uniform sampling of angles for SE3, SO3, and Quaternions #139

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5dc94ee
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
6de901d
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
739e59a
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
0a97e6e
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
d424170
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
30b2519
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
aa2269e
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
1678fce
Added constrained uniform sampling of angles
bokorn-bdaii Oct 9, 2024
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Added constrained uniform sampling of angles
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Added constrained uniform sampling of angles
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@bokorn-bdaii
bokorn-bdaii committed Oct 10, 2024
commit 63b8d2ccc18a0b4210b88e72770f96b93d8e7ce9
8 changes: 5 additions & 3 deletions spatialmath/base/quaternions.py
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Expand Up @@ -861,7 +861,7 @@ def _compute_cdf_sin_squared(theta: float):
return (theta - np.sin(theta)) / np.pi

@lru_cache(maxsize=1)
def _generate_inv_cdf_sin_squared_interp(num_interpolation_points) -> interpolate.interp1d:
def _generate_inv_cdf_sin_squared_interp(num_interpolation_points: int = 256) -> interpolate.interp1d:
"""
Computes an interpolation function for the inverse CDF of the distribution of angular magnitude.

Expand All @@ -878,7 +878,7 @@ def _generate_inv_cdf_sin_squared_interp(num_interpolation_points) -> interpolat
cdf_sin_squared_interp_values = _compute_cdf_sin_squared(cdf_sin_squared_interp_angles)
return interpolate.interp1d(cdf_sin_squared_interp_values, cdf_sin_squared_interp_angles)

def _compute_inv_cdf_sin_squared(x: ArrayLike, num_interpolation_points=256) -> ArrayLike:
def _compute_inv_cdf_sin_squared(x: ArrayLike, num_interpolation_points: int = 256) -> ArrayLike:
"""
Computes the inverse CDF of the distribution of angular magnitude.

Expand All @@ -896,7 +896,7 @@ def _compute_inv_cdf_sin_squared(x: ArrayLike, num_interpolation_points=256) ->
inv_cdf_sin_squared_interp = _generate_inv_cdf_sin_squared_interp(num_interpolation_points)
return inv_cdf_sin_squared_interp(x)

def qrand(theta_range:Optional[ArrayLike2] = None, unit: str = "rad", num_interpolation_points:int = 256) -> UnitQuaternionArray:
def qrand(theta_range:Optional[ArrayLike2] = None, unit: str = "rad", num_interpolation_points: int = 256) -> UnitQuaternionArray:
"""
Random unit-quaternion

Expand All @@ -906,6 +906,8 @@ def qrand(theta_range:Optional[ArrayLike2] = None, unit: str = "rad", num_interp
:type unit: str
:arg num_interpolation_points: number of points to use in the interpolation function
:rtype: int
:arg num_interpolation_points: number of points to use in the interpolation function
:rtype: int
:return: random unit-quaternion
:rtype: ndarray(4)

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