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dimensional vector co-directional to the axis of rotation and whose magnitude is equal to " }, { "__type": "InlineCode", "__tag": 4051, "value": "tan(theta / 4)" }, { "__type": "Text", "__tag": 4046, "value": ", where " }, { "__type": "InlineCode", "__tag": 4051, "value": "theta" }, { "__type": "Text", "__tag": 4046, "value": " is the angle of rotation (in radians) " }, { "__type": "FootnoteReference", "__tag": 4066, "label": "1" }, { "__type": "Text", "__tag": 4046, "value": "." } ] }, { "__type": "Paragraph", "__tag": 4045, "children": [ { "__type": "Text", "__tag": 4046, "value": "MRPs have a singularity at 360 degrees which can be avoided by ensuring the angle of rotation does not exceed 180 degrees, i.e. switching the direction of the rotation when it is past 180 degrees." } ] } ], "title": [], "level": 0, "target": null }, "Other Parameters": { "__type": "Section", "__tag": 4015, "children": [], "title": [], "level": 0, "target": null } }, "_ordered_sections": [ "Summary", "Extended Summary", "Parameters", "Attributes", "Methods", "Returns", "Yields", "Receives", "Other Parameters", "Raises", "Warns", "Warnings", "Notes" ], "item_file": "/scipy/spatial/transform/_rotation.py", "item_line": 887, "item_type": "staticmethod", "aliases": [ "scipy.spatial.transform.Rotation.from_mrp" ], "example_section_data": { "__type": "Section", "__tag": 4015, "children": [ { "__type": "Code", "__tag": 4050, "value": "from scipy.spatial.transform import Rotation as R\nimport numpy as np\n", "execution_status": "success" }, { "__type": "Text", "__tag": 4046, "value": "\nInitialize a single rotation:\n\n" }, { "__type": "Code", "__tag": 4050, "value": "r = R.from_mrp([0, 0, 1])\n", "execution_status": "success" }, { "__type": "Code", "__tag": 4050, "value": "r.as_euler('xyz', degrees=True)\n", "execution_status": "failure" }, { "__type": "Code", "__tag": 4050, "value": "r.as_euler('xyz').shape\n", "execution_status": "success" }, { "__type": "Text", "__tag": 4046, "value": "\nInitialize multiple rotations in one object:\n\n" }, { "__type": "Code", "__tag": 4050, "value": "r = R.from_mrp([\n[0, 0, 1],\n[1, 0, 0]])\n", "execution_status": "success" }, { "__type": "Code", "__tag": 4050, "value": "r.as_euler('xyz', degrees=True)\n", "execution_status": "failure" }, { "__type": "Code", "__tag": 4050, "value": "r.as_euler('xyz').shape\n", "execution_status": "success" }, { "__type": "Text", "__tag": 4046, "value": "\nIt is also possible to have a stack of a single rotation:\n\n" }, { "__type": "Code", "__tag": 4050, "value": "r = R.from_mrp([[0, 0, np.pi/2]])\nr.as_euler('xyz').shape\n", "execution_status": "success" } ], "title": [], "level": 0, "target": null }, "see_also": [], "signature": { "__type": "SignatureNode", "__tag": 4029, "kind": "function", "parameters": [ { "__type": "SigParam", "__tag": 4030, "name": "mrp", "annotation": "ArrayLike", "kind": "POSITIONAL_OR_KEYWORD", "default": { "__type": "Empty", "__tag": 4031 } } ], "return_annotation": "Rotation", "target_name": "from_mrp" }, "references": [ ".. [1] Shuster, M. D. \"A Survey of Attitude Representations\",", " The Journal of Astronautical Sciences, Vol. 41, No.4, 1993,", " pp. 475-476" ], "qa": "scipy.spatial.transform._rotation:Rotation.from_mrp", "arbitrary": [], "local_refs": [ "mrp", "rotation" ] }