Owner import path¶
jaxstro.geometry
Purpose¶
Vector normalization, angular distance, rotations, quaternions, and rigid transforms.
Public records and callables¶
normalize, angular_distance, rotation_matrix,
quaternion_from_axis_angle, quaternion_conjugate, quaternion_multiply,
quaternion_rotate, rigid_transform, invert_rigid, and compose_rigid.
Shape and dtype expectations¶
Vectors have trailing length-three axes; quaternions have trailing length-four axes. Rotation matrices are trailing three-by-three floating arrays.
JAX transforms and AD classification¶
Kernels compose with JIT, VMAP, and smooth-pathwise AD away from zero vectors, coincident directions, and branch boundaries.
Failure behavior¶
Singular normalization and undefined angular geometry remain explicit. Rigid composition order is not inferred.
Contract and evidence links¶
See Vector geometry and rigid transforms and Validation.
Canonical import example¶
from jaxstro.geometry import quaternion_rotate