nirum

"""Save/load pytrees to disk."""

import collections
import h5py
import jax
import numpy as np


def save(filepath, tree):
  """Saves a pytree to an hdf5 file.

bayerj

def q_mult(q1, q2):
    w1, x1, y1, z1 = q1[:, 0], q1[:, 1], q1[:, 2], q1[:, 3]
    w2, x2, y2, z2 = q2[:, 0], q2[:, 1], q2[:, 2], q2[:, 3]
    w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
    x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
    y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
    z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
    
    if isinstance(q1, np.ndarray):
        w = w[:, np.newaxis]

saghul

# coding=utf8

# Copyright (C) 2011 Saúl Ibarra Corretgé <[email protected]>
#

import hashlib
import os
import re
import socket
import struct