`scipy.spatial.transform._rotation:Rotation.concatenate`

source: /scipy/spatial/transform/_rotation.py :1490

Signature

staticmethod def concatenate ( rotations : Rotation | Iterable[Rotation] ) → Rotation

Summary

Concatenate a sequence of Rotation objects into a single object.

Extended Summary

This is useful if you want to, for example, take the mean of a set of rotations and need to pack them into a single object to do so.

Parameters

rotations : sequence of `Rotation` objects: The rotations to concatenate. If a single Rotation object is passed in, a copy is returned.

Returns

concatenated : `Rotation` instance: The concatenated rotations.

Notes

Array API Standard Support

concatenate has experimental support for Python Array API Standard compatible backends in addition to NumPy. Please consider testing these features by setting an environment variable SCIPY_ARRAY_API=1 and providing CuPy, PyTorch, JAX, or Dask arrays as array arguments. The following combinations of backend and device (or other capability) are supported.

====================  ====================  ====================
Library               CPU                   GPU
====================  ====================  ====================
NumPy                 ✅                     n/a                 
CuPy                  n/a                   ✅                   
PyTorch               ✅                     ✅                   
JAX                   ✅                     ✅                   
Dask                  ⛔                     n/a                 
====================  ====================  ====================

See dev-arrayapi for more information.

Examples

from scipy.spatial.transform import Rotation as R
r1 = R.from_rotvec([0, 0, 1])
r2 = R.from_rotvec([0, 0, 2])
rc = R.concatenate([r1, r2])
rc.as_rotvec()

✓

rc.mean().as_rotvec()

✗

Concatenation of a split rotation recovers the original object.

rs = [r for r in rc]
R.concatenate(rs).as_rotvec()

✓

Note that it may be simpler to create the desired rotations by passing in a single list of the data during initialization, rather then by concatenating:

R.from_rotvec([[0, 0, 1], [0, 0, 2]]).as_rotvec()

✓

Aliases

scipy.spatial.transform.Rotation.concatenate