bundles / scipy 2.0.0.dev0+git20260907.41eeb59 / scipy / spatial / transform / _rotation / Rotation / as_rotvec
function
scipy.spatial.transform._rotation:Rotation.as_rotvec
source: build-install/usr/lib/python3.14/site-packages/scipy/spatial/transform/_rotation.py:1157
Signature
def as_rotvec(self, degrees: bool = False) → ArraySummary
Represent as rotation vectors.
Extended Summary
A rotation vector is a 3 dimensional vector which is co-directional to the axis of rotation and whose norm gives the angle of rotation [1].
Parameters
degrees: bool, optionalReturned magnitudes are in degrees if this flag is True, else they are in radians. Default is False.
Returns
rotvec: ndarray, shape (..., 3)Shape depends on shape of inputs used for initialization.
Examples
from scipy.spatial.transform import Rotation as R import numpy as np✓
r = R.from_euler('z', 90, degrees=True)
✓r.as_rotvec()
✗array([0. , 0. , 1.5708])
r.as_rotvec().shape
✓(3,)Represent a rotation in degrees:
r = R.from_euler('YX', (-90, -90), degrees=True) s = r.as_rotvec(degrees=True)✓
s np.linalg.norm(s)✗
np.float64(119.99999999999997)Represent a stack with a single rotation:
r = R.from_quat([[0, 0, 1, 1]])
✓r.as_rotvec()
✗array([[0. , 0. , 1.5708]])
r.as_rotvec().shape
✓(1, 3)Represent multiple rotations in a single object:
r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]])
✓r.as_rotvec()
✗array([[0. , 0. , 1.5708 ],
[1.35102, 1.35102, 0. ]])
r.as_rotvec().shape
✓(2, 3)
Aliases
scipy.spatial.transform.Rotation.as_rotvec