scipy.spatial.transform.Rotation.

concatenate

classmethod Rotation.concatenate(cls, rotations)

Concatenate a sequence of Rotation objects into a single object.

This is useful if you want to, for example, take the mean of a set of rotations and need to pack them into a single object to do so.

Parameters:

rotationssequence of Rotation objects

The rotations to concatenate. If a single Rotation object is passed in, a copy is returned.

Returns:

concatenatedRotation instance

The concatenated rotations.

Notes

Added in version 1.8.0.

Examples

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>>> from scipy.spatial.transform import Rotation as R
>>> r1 = R.from_rotvec([0, 0, 1])
>>> r2 = R.from_rotvec([0, 0, 2])
>>> rc = R.concatenate([r1, r2])
>>> rc.as_rotvec()
array([[0., 0., 1.],
       [0., 0., 2.]])
>>> rc.mean().as_rotvec()
array([0., 0., 1.5])

Concatenation of a split rotation recovers the original object.

>>> rs = [r for r in rc]
>>> R.concatenate(rs).as_rotvec()
array([[0., 0., 1.],
       [0., 0., 2.]])

Note that it may be simpler to create the desired rotations by passing in a single list of the data during initialization, rather then by concatenating:

>>> R.from_rotvec([[0, 0, 1], [0, 0, 2]]).as_rotvec()
array([[0., 0., 1.],
       [0., 0., 2.]])

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