scipy.spatial.transform.Rotation.from_rotvec¶
-
classmethod
Rotation.
from_rotvec
(rotvec)[source]¶ Initialize from rotation vectors.
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 (in radians) [1].
- Parameters
- rotvecarray_like, shape (N, 3) or (3,)
A single vector or a stack of vectors, where rot_vec[i] gives the ith rotation vector.
- Returns
- rotation
Rotation
instance Object containing the rotations represented by input rotation vectors.
- rotation
References
Examples
>>> from scipy.spatial.transform import Rotation as R
Initialize a single rotation:
>>> r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1])) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,)
Initialize multiple rotations in one object:
>>> r = R.from_rotvec([ ... [0, 0, np.pi/2], ... [np.pi/2, 0, 0]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.57079633, 0. , 0. ]]) >>> r.as_rotvec().shape (2, 3)
It is also possible to have a stack of a single rotaton:
>>> r = R.from_rotvec([[0, 0, np.pi/2]]) >>> r.as_rotvec().shape (1, 3)