Skip to content

Fix usage of array_namespace #91

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
ratheron merged 1 commit into from
Aug 7, 2026
+3 −3
Merged

Fix usage of array_namespace #91

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions crazyflow/dynamics/utils/rotation.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ def ang_vel2rpy_rates(quat: Array, ang_vel: Array) -> Array:

def rpy_rates2ang_vel(quat: Array, rpy_rates: Array) -> Array:
"""Convert rpy rates to angular velocity with batch support."""
xp = quat.__array_namespace__()
xp = array_namespace(quat)
rpy = R.from_quat(quat).as_euler("xyz")
phi, theta = rpy[..., 0], rpy[..., 1]

Expand Down Expand Up @@ -105,7 +105,7 @@ def ang_vel_deriv2rpy_rates_deriv(quat: Array, ang_vel: Array, ang_vel_deriv: Ar
\dot{\psi} = \mathbf{\dot{W}}\mathbf{\omega} + \mathbf{W} \dot{\mathbf{\omega}}
\]
"""
xp = quat.__array_namespace__()
xp = array_namespace(quat)
rpy = R.from_quat(quat).as_euler("xyz")
phi, theta = rpy[..., 0], rpy[..., 1]
rpy_rates = ang_vel2rpy_rates(quat, ang_vel)
Expand Down Expand Up @@ -151,7 +151,7 @@ def rpy_rates_deriv2ang_vel_deriv(quat: Array, rpy_rates: Array, rpy_rates_deriv
\dot{\omega} = \mathbf{\dot{W}}\dot{\mathbf{\psi}} + \mathbf{W} \ddot{\mathbf{\psi}}
\]
"""
xp = quat.__array_namespace__()
xp = array_namespace(quat)
rpy = R.from_quat(quat).as_euler("xyz")
phi, theta = rpy[..., 0], rpy[..., 1]
phi_dot, theta_dot = rpy_rates[..., 0], rpy_rates[..., 1]
Expand Down
Loading