scipy.spatial.transform.Rotation.

approx_equal#

Rotation.approx_equal(other, atol=None, degrees=False)[source]#

Determine if another rotation is approximately equal to this one.

Equality is measured by calculating the smallest angle between the rotations, and checking to see if it is smaller than atol.

Parameters:

otherRotation instance: Object containing the rotations to measure against this one.
atolfloat, optional: The absolute angular tolerance, below which the rotations are considered equal. If not given, then set to 1e-8 radians by default.
degreesbool, optional: If True and atol is given, then atol is measured in degrees. If False (default), then atol is measured in radians.

Returns:

approx_equalndarray or bool: Whether the rotations are approximately equal, bool if object contains a single rotation and ndarray if object contains multiple rotations.

Notes

approx_equal 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.

Examples

>>> from scipy.spatial.transform import Rotation as R
>>> import numpy as np
>>> p = R.from_quat([0, 0, 0, 1])
>>> q = R.from_quat(np.eye(4))
>>> p.approx_equal(q)
array([False, False, False, True])

Approximate equality for a single rotation:

>>> p.approx_equal(q[0])
False