Spatial Transformations (scipy.spatial.transform)#

This package implements various spatial transformations. For now, rotations and rigid transforms (rotations and translations) are supported.

Rotations in 3 dimensions#

RigidTransform(matrix[, normalize, copy])	Rigid transform in 3 dimensions.
Rotation(quat[, normalize, copy, scalar_first])	Rotation in 3 dimensions.
Slerp(times, rotations)	Spherical Linear Interpolation of Rotations.
RotationSpline(times, rotations)	Interpolate rotations with continuous angular rate and acceleration.