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bundles / scipy latest / scipy / spatial / transform / _rotation / Rotation / as_rotvec

function

scipy.spatial.transform._rotation:Rotation.as_rotvec

source: /scipy/spatial/transform/_rotation.py :1120

Signature

def   as_rotvec ( self ,  degrees : bool = False )  →  Array

Summary

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 : boolean, optional

Returned 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.

Notes

Array API Standard Support

as_rotvec 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
import numpy as np
✓
Represent a single rotation: 
r = R.from_euler('z', 90, degrees=True)
✓
r.as_rotvec()
✗
r.as_rotvec().shape
✓
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)
✗
Represent a stack with a single rotation: 
r = R.from_quat([[0, 0, 1, 1]])
✓
r.as_rotvec()
✗
r.as_rotvec().shape
✓
Represent multiple rotations in a single object: 
r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]])
✓
r.as_rotvec()
✗
r.as_rotvec().shape
✓

Aliases

  • scipy.spatial.transform.Rotation.as_rotvec