scipy.spatial.transform.Rotation.

from_rotvec#

static Rotation.from_rotvec(rotvec, degrees=False)[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 [1].

Parameters:
rotvecarray_like, shape (…, 3)

A single vector or an ND array of vectors, where the last dimension contains the rotation vectors.

degreesbool, optional

If True, then the given magnitudes are assumed to be in degrees. Default is False.

Added in version 1.7.0.

Returns:
rotationRotation instance

Object containing the rotations represented by input rotation vectors.

Notes

Array API Standard Support

from_rotvec has experimental support for Python Array API Standard compatible backends in addition to NumPy. Please consider testing these features by setting an environment variable SCIPY_ARRAY_API=1 and providing CuPy, PyTorch, JAX, or Dask arrays as array arguments. The following combinations of backend and device (or other capability) are supported.

Library

CPU

GPU

NumPy

✅

n/a

CuPy

n/a

✅

PyTorch

✅

✅

JAX

✅

✅

Dask

⛔

n/a

See Support for the array API standard for more information.

References

Examples

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

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 a rotation in degrees, and view it in degrees:

>>> r = R.from_rotvec(45 * np.array([0, 1, 0]), degrees=True)
>>> r.as_rotvec(degrees=True)
array([ 0., 45.,  0.])

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 rotation:

>>> r = R.from_rotvec([[0, 0, np.pi/2]])
>>> r.as_rotvec().shape
(1, 3)
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