jax.scipy.spatial.transform.Slerp

class jax.scipy.spatial.transform.Slerp(times, timedelta, rotations, rotvecs)

Spherical Linear Interpolation of Rotations.

JAX implementation of scipy.spatial.transform.Slerp.

Examples

Create a Slerp instance from a series of rotations:

>>> import math
>>> from jax.scipy.spatial.transform import Rotation, Slerp
>>> rots = jnp.array([[90, 0, 0],
...                   [0, 45, 0],
...                   [0, 0, -30]])
>>> key_rotations = Rotation.from_euler('zxy', rots, degrees=True)
>>> key_times = [0, 1, 2]
>>> slerp = Slerp.init(key_times, key_rotations)
>>> times = [0, 0.5, 1, 1.5, 2]
>>> interp_rots = slerp(times)
>>> interp_rots.as_euler('zxy')
Array([[ 1.5707963e+00,  0.0000000e+00,  0.0000000e+00],
       [ 8.5309029e-01,  3.8711953e-01,  1.7768645e-01],
       [-2.3841858e-07,  7.8539824e-01,  0.0000000e+00],
       [-5.6668043e-02,  3.9213133e-01, -2.8347540e-01],
       [ 0.0000000e+00,  0.0000000e+00, -5.2359891e-01]], dtype=float32)

Parameters:

• times (jnp.ndarray)

• timedelta (jnp.ndarray)

• rotations (Rotation)

• rotvecs (jnp.ndarray)

__init__()

Methods

__init__()
count(value, /)	Return number of occurrences of value.
index(value[, start, stop])	Return first index of value.
init(times, rotations)

Attributes

rotations	Alias for field number 2
rotvecs	Alias for field number 3
timedelta	Alias for field number 1
times	Alias for field number 0