This pr adds a warp implementation for geodesic_distance_between_quaternions(). An empirical runtime test was performed to determine which implementation is faster - the original pytorch version or this newly added warp version.
The results indicate that the original pytorch version is faster for all batch sizes.
Regardless, the code is going to added as a reference. Also, the pr includes other minor refactors and cleanups and I was too lazy to parse them out,
This pr adds a warp implementation for geodesic_distance_between_quaternions(). An empirical runtime test was performed to determine which implementation is faster - the original pytorch version or this newly added warp version.
The results indicate that the original pytorch version is faster for all batch sizes.
Regardless, the code is going to added as a reference. Also, the pr includes other minor refactors and cleanups and I was too lazy to parse them out,