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Twist (rotation not in plane) .Nr r r z... i j, ... i -> ... jYXZr r.N)rsrinverserunbindrr) rrr pivot_axistranslation_frameorigindelta translationinvertedrrrrYr5r5r6extrinsics_to_pivot_parameterss r parameterscCs|jddd\}}}tj|t||fdd}|t|d}|ddddf}t||ddddf} t| |d } || } | j^} } tjd |j |j d }| g| d d R }d|d <||dddddf<| |ddddf<|S) N)r r r r rr.r r r z... i j, ... j -> ... ir r).r r ) splitrr zeros_likerrsrrrHrr broadcast_tory)rrrrrrrYeulerrotationrrrrrrrr5r5r6pivot_parameters_to_extrinsicss  rc Cst|||\}}}dtj}||}||}||}||}||}||}||}||k||k@} ||k| @} | | @} ||||} ||||| | | <||||| | | <| S)Nr )rrgrErz) rprurXtaudZa_leftZd_leftZa_rightZd_rightZuse_dZ use_d_leftZ use_d_rightresultr5r5r6interpolate_circular8s      rc Cspt|d}t|d}t|d}|jddd\}}|jddd\}}||||}t|||}tj||fddS)Nz... d -> ... () dz t -> t ())r r r r)rrrrr) r\r]rXtiritfrfZt_lerpZr_lerpr5r5r6interpolate_pivot_parametersTs    rcCs&|tj}|tj}|tj}|ddddf}|ddddf}t||d}|d|k}|ddddf}|ddddf} d|| } t||||| |||| |<t|||d} t|| | } t|| | } t| | |}t |tj t | d tj t | d tj S) zInterpolate extrinsics by rotating around their "focus point," which is the least-squares intersection between the look vectors of the initial and final extrinsics. .Nr r rwr rT)rvr_z... xyz -> ... 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