Spatial Transformations (scipy.spatial.transform)

This package implements various spatial transformations. For now, only rotations are supported.

Rotations in 3 dimensions

Rotation(quat[, normalize, copy])	Rotation in 3 dimensions.
Slerp(times, rotations)	Spherical Linear Interpolation of Rotations.
RotationSpline(times, rotations)	Interpolate rotations with continuous angular rate and acceleration.