scipy.spatial.transform.Rotation.
as_rotvec#
- Rotation.as_rotvec(self, degrees=False)#
- Represent as 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:
- degreesboolean, optional
- Returned magnitudes are in degrees if this flag is True, else they are in radians. Default is False. - Added in version 1.7.0. 
 
- Returns:
- rotvecndarray, shape (3,) or (N, 3)
- Shape depends on shape of inputs used for initialization. 
 
 - References - Examples - >>> from scipy.spatial.transform import Rotation as R >>> import numpy as np - Represent a single rotation: - >>> r = R.from_euler('z', 90, degrees=True) >>> r.as_rotvec() array([0. , 0. , 1.57079633]) >>> r.as_rotvec().shape (3,) - Represent a rotation in degrees: - >>> r = R.from_euler('YX', (-90, -90), degrees=True) >>> s = r.as_rotvec(degrees=True) >>> s array([-69.2820323, -69.2820323, -69.2820323]) >>> np.linalg.norm(s) 120.00000000000001 - Represent a stack with a single rotation: - >>> r = R.from_quat([[0, 0, 1, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633]]) >>> r.as_rotvec().shape (1, 3) - Represent multiple rotations in a single object: - >>> r = R.from_quat([[0, 0, 1, 1], [1, 1, 0, 1]]) >>> r.as_rotvec() array([[0. , 0. , 1.57079633], [1.35102172, 1.35102172, 0. ]]) >>> r.as_rotvec().shape (2, 3)