This is documentation for an old release of SciPy (version 1.6.0). Read this page Search for this page in the documentation of the latest stable release (version 1.15.1).

scipy.spatial.transform.Rotation.inv

Rotation.inv()

Invert this rotation.

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

Returns

inverseRotation instance

Object containing inverse of the rotations in the current instance.

Examples

>>>

>>> from scipy.spatial.transform import Rotation as R

Inverting a single rotation:

>>>

>>> p = R.from_euler('z', 45, degrees=True)
>>> q = p.inv()
>>> q.as_euler('zyx', degrees=True)
array([-45.,   0.,   0.])

Inverting multiple rotations:

>>>

>>> p = R.from_rotvec([[0, 0, np.pi/3], [-np.pi/4, 0, 0]])
>>> q = p.inv()
>>> q.as_rotvec()
array([[-0.        , -0.        , -1.04719755],
       [ 0.78539816, -0.        , -0.        ]])