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

source: /scipy/spatial/transform/_rotation.py :1867

Signature

def inv ( self ) → Rotation

Summary

Invert this rotation.

Extended Summary

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

Returns

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

Notes

Array API Standard Support

inv 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

✓

Inverting a single rotation:

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

✓

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

✗

Inverting multiple rotations:

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

✓

q.as_rotvec()

✗

Aliases

scipy.spatial.transform.Rotation.inv