SciPy

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.