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bundles / scipy 1.17.1 / scipy / spatial / transform / _rotation / Rotation / random

staticmethod

scipy.spatial.transform._rotation:Rotation.random

source: /scipy/spatial/transform/_rotation.py :2295

Signature

staticmethod def   random ( num : int | None = None ,  rng : np.random.Generator | None = None ,  * ,  shape : tuple[int, ...] | None = None ,  random_state = None )  →  Rotation

Summary

Generate rotations that are uniformly distributed on a sphere.

Extended Summary

Formally, the rotations follow the Haar-uniform distribution over the SO(3) group.

Parameters

num : int or None, optional

Number of random rotations to generate. If None (default), then a single rotation is generated.

rng : {None, int, `numpy.random.Generator`}, optional

If rng is passed by keyword, types other than numpy.random.Generator are passed to numpy.random.default_rng to instantiate a Generator. If rng is already a Generator instance, then the provided instance is used. Specify rng for repeatable function behavior.

If this argument is passed by position or random_state is passed by keyword, legacy behavior for the argument random_state applies:

  • If random_state is None (or numpy.random), the numpy.random.RandomState singleton is used.

  • If random_state is an int, a new RandomState instance is used, seeded with random_state.

  • If random_state is already a Generator or RandomState instance then that instance is used.

shape : tuple of ints, optional

Shape of random rotations to generate. If specified, num must be None.

Returns

random_rotation : `Rotation` instance

Contains a single rotation if num is None. Otherwise contains a stack of num rotations.

Notes

This function is optimized for efficiently sampling random rotation matrices in three dimensions. For generating random rotation matrices in higher dimensions, see scipy.stats.special_ortho_group.

Examples

from scipy.spatial.transform import Rotation as R
✓
Sample a single rotation: 
R.random().as_euler('zxy', degrees=True)
✗
Sample a stack of rotations: 
R.random(5).as_euler('zxy', degrees=True)
✗

See also

scipy.stats.special_ortho_group

Aliases

  • scipy.spatial.transform.Rotation.random

Referenced by

This package