jax.scipy.spatial.transform.Rotation#

class jax.scipy.spatial.transform.Rotation(quat: 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:

The following operations on rotations are supported:

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.

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.

jax.scipy.spatial.transform.Rotation