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

Signature

def inv(self) → Rotation

Invert this rotation.

Composition of a rotation with its inverse results in an identity transformation.

inverse : `Rotation` instance: Object containing inverse of the rotations in the current instance.

from scipy.spatial.transform import Rotation as R
import numpy as np

✓

Inverting a single rotation:

p = R.from_euler('z', 45, degrees=True)
q = p.inv()

✓

q.as_euler('zyx', degrees=True)

✗

array([-45.,   0.,  -0.])

Inverting multiple rotations:

p = R.from_rotvec([[0, 0, np.pi/3], [-np.pi/4, 0, 0]])
q = p.inv()

✓

q.as_rotvec()

✗

array([[-0.    , -0.    , -1.0472],
       [ 0.7854, -0.    , -0.    ]])