jax.scipy.spatial.transform.Rotation

class jax.scipy.spatial.transform.Rotation(quat)

Rotation in 3 dimensions.

JAX implementation of scipy.spatial.transform.Rotation.

Examples

Construct an object describing a 90 degree rotation about the z-axis:

>>> from jax.scipy.spatial.transform import Rotation
>>> r = Rotation.from_euler('z', 90, degrees=True)

Convert to a rotation vector:

>>> r.as_rotvec()
Array([0.       , 0.       , 1.5707964], dtype=float32)

Convert to rotation matrix:

>>> r.as_matrix()
Array([[ 0.        , -0.99999994,  0.        ],
       [ 0.99999994,  0.        ,  0.        ],
       [ 0.        ,  0.        ,  0.99999994]], dtype=float32)

Compose with another rotation:

>>> r2 = Rotation.from_euler('x', 90, degrees=True)
>>> r3 = r * r2
>>> r3.as_matrix()
Array([[0., 0., 1.],
       [1., 0., 0.],
       [0., 1., 0.]], dtype=float32)

See the scipy Rotation documentation for further examples of manipulating Rotation objects.

Parameters:

quat (jax.Array)

__init__()

Methods

__init__()
apply(vectors[, inverse])	Apply this rotation to one or more vectors.
as_euler(seq[, degrees])	Represent as Euler angles.
as_matrix()	Represent as rotation matrix.
as_mrp()	Represent as Modified Rodrigues Parameters (MRPs).
as_quat([canonical, scalar_first])	Represent as quaternions.
as_rotvec([degrees])	Represent as rotation vectors.
concatenate(rotations)	Concatenate a sequence of Rotation objects.
count(value, /)	Return number of occurrences of value.
from_euler(seq, angles[, degrees])	Initialize from Euler angles.
from_matrix(matrix)	Initialize from rotation matrix.
from_mrp(mrp)	Initialize from Modified Rodrigues Parameters (MRPs).
from_quat(quat)	Initialize from quaternions.
from_rotvec(rotvec[, degrees])	Initialize from rotation vectors.
identity([num, dtype])	Get identity rotation(s).
index(value[, start, stop])	Return first index of value.
inv()	Invert this rotation.
magnitude()	Get the magnitude(s) of the rotation(s).
mean([weights])	Get the mean of the rotations.
random(random_key[, num])	Generate uniformly distributed rotations.

Attributes

quat	Alias for field number 0
single	Whether this instance represents a single rotation.