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 (N, 3) or (3,)

A single vector or a stack of vectors, where rot_vec[i] gives the ith rotation vector.

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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