# scipy.spatial.transform.Rotation.as_rotvec¶

Rotation.as_rotvec()

Represent as 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 .

Returns
rotvecndarray, shape (3,) or (N, 3)

Shape depends on shape of inputs used for initialization.

degreesboolean, optional

Returned magnitudes are in degrees if this flag is True, else they are in radians. Default is False.

References

1

https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector

Examples

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

Represent a single rotation:

```>>> r = R.from_euler('z', 90, degrees=True)
>>> r.as_rotvec()
array([0.        , 0.        , 1.57079633])
>>> r.as_rotvec().shape
(3,)
```

Represent a rotation in degrees:

```>>> r = R.from_euler('YX', (-90, -90), degrees=True)
>>> s = r.as_rotvec(degrees=True)
>>> s
array([-69.2820323, -69.2820323, -69.2820323])
>>> np.linalg.norm(s)
120.00000000000001
```

Represent a stack with a single rotation:

```>>> r = R.from_quat([[0, 0, 1, 1]])
>>> r.as_rotvec()
array([[0.        , 0.        , 1.57079633]])
>>> r.as_rotvec().shape
(1, 3)
```

Represent multiple rotations in a single object:

```>>> r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]])
>>> r.as_rotvec()
array([[0.        , 0.        , 1.57079633],
[1.35102172, 1.35102172, 0.        ]])
>>> r.as_rotvec().shape
(2, 3)
```