warp.quat_to_matrix

warp.quat_to_matrix(

quat: Quaternion[Float],

) → Matrix[Float, Literal[3], Literal[3]]

• Kernel: true
• Python: true
• Differentiable: true

Return the 3x3 rotation matrix of the rotation that quat represents.

Parameters:

quat – Rotation quaternion, with unit length. Gradient updates do not preserve its unit length, so re-normalize it after each update.

Returns:

The rotation matrix m that rotates column vectors, such that m @ v equals quat_rotate(quat, v).