scipy.spatial.transform.Rotation.

magnitude#

Rotation.magnitude(self)#

Get the magnitude(s) of the rotation(s).

Returns:

magnitudendarray or float: Angle(s) in radians, float if object contains a single rotation and ndarray if object contains multiple rotations. The magnitude will always be in the range [0, pi].

Examples

>>> from scipy.spatial.transform import Rotation as R
>>> import numpy as np
>>> r = R.from_quat(np.eye(4))
>>> r.as_quat()
array([[ 1., 0., 0., 0.],
       [ 0., 1., 0., 0.],
       [ 0., 0., 1., 0.],
       [ 0., 0., 0., 1.]])
>>> r.magnitude()
array([3.14159265, 3.14159265, 3.14159265, 0.        ])

Magnitude of a single rotation:

>>> r[0].magnitude()
3.141592653589793