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

staticmethod

scipy.spatial.transform._rotation:Rotation.from_rotvec

source: /scipy/spatial/transform/_rotation.py :603

Signature

staticmethod def   from_rotvec ( rotvec : ArrayLike ,  degrees : bool = False )  →  Rotation

Summary

Initialize from 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

rotvec : array_like, shape (..., 3)

A single vector or an ND array of vectors, where the last dimension contains the rotation vectors.

degrees : bool, optional

If True, then the given magnitudes are assumed to be in degrees. Default is False.

Returns

rotation : `Rotation` instance

Object containing the rotations represented by input rotation vectors.

Notes

Array API Standard Support

from_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
✓
Initialize a single rotation: 
r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1]))
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r.as_rotvec()
✗
r.as_rotvec().shape
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Initialize a rotation in degrees, and view it in degrees: 
r = R.from_rotvec(45 * np.array([0, 1, 0]), degrees=True)
r.as_rotvec(degrees=True)
✓
Initialize multiple rotations in one object: 
r = R.from_rotvec([
[0, 0, np.pi/2],
[np.pi/2, 0, 0]])
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r.as_rotvec()
✗
r.as_rotvec().shape
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It is also possible to have a stack of a single rotation: 
r = R.from_rotvec([[0, 0, np.pi/2]])
r.as_rotvec().shape
✓

Aliases

  • scipy.spatial.transform.Rotation.from_rotvec