jax.scipy.spatial.transform.Rotation

jax.scipy.spatial.transform.Rotation#

class jax.scipy.spatial.transform.Rotation(quat: jax.Array)[source]#

Rotation in 3 dimensions.

LAX-backend implementation of scipy.spatial.transform._rotation.Rotation().

Original docstring below.

This class provides an interface to initialize from and represent rotations with:

  • Quaternions

  • Rotation Matrices

  • Rotation Vectors

  • Modified Rodrigues Parameters

  • Euler Angles

The following operations on rotations are supported:

  • Application on vectors

  • Rotation Composition

  • Rotation Inversion

  • Rotation Indexing

Indexing within a rotation is supported since multiple rotation transforms can be stored within a single Rotation instance.

To create Rotation objects use from_... methods (see examples below). Rotation(...) is not supposed to be instantiated directly.

__init__()#

Methods

__init__()

apply(vectors[, inverse])

Apply this rotation to one or more vectors.

as_euler(seq[, degrees])

Represent as Euler angles.

as_matrix()

Represent as rotation matrix.

as_mrp()

Represent as Modified Rodrigues Parameters (MRPs).

as_quat()

Represent as quaternions.

as_rotvec([degrees])

Represent as rotation vectors.

concatenate(rotations)

Concatenate a sequence of Rotation objects.

count(value, /)

Return number of occurrences of value.

from_euler(seq, angles[, degrees])

Initialize from Euler angles.

from_matrix(matrix)

Initialize from rotation matrix.

from_mrp(mrp)

Initialize from Modified Rodrigues Parameters (MRPs).

from_quat(quat)

Initialize from quaternions.

from_rotvec(rotvec[, degrees])

Initialize from rotation vectors.

identity([num, dtype])

Get identity rotation(s).

index(value[, start, stop])

Return first index of value.

inv()

Invert this rotation.

magnitude()

Get the magnitude(s) of the rotation(s).

mean([weights])

Get the mean of the rotations.

random(random_key[, num])

Generate uniformly distributed rotations.

Attributes

quat

Alias for field number 0

single

Whether this instance represents a single rotation.