Added constrained uniform sampling of angles for SE3, SO3, and Quaternions #139
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@neshed-bdai Fixed all typos mentioned. Thanks for the catch. Spell checker turned off when my VSCode updated. |
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spatialmath/base/quaternions.py
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| _eps = np.finfo(np.float64).eps | ||
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| _NUMBER_CDF_SIN_SQUARED_INTERP_POINTS = 256 |
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I'd make these optional arguments to the _compute_cdf_sin_squared function with 256 default and compute the next one in the function?
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Does this result in fixed, discrete number of orientations you can get?
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Change Overview
Added constrained uniform sampling of angles for SE3, SO3, and Quaternions based. Samling respects the distribution of orientations at different magnitudes and samples accordingly using the analytical CDF and Inverse Transform Sampling. Interpolation is used for fast inverses of the CDF. Derivation of CDF can be found here: Uniform_Rotation_Distributions.pdf.
Testing Done
Pose based unit tests pass.
Empirically checked distribution against rejection sampling.
