scipy.spatial.transform.RigidTransform.

scipy.spatial.transform.RigidTransform.rotation

RigidTransform.rotation

Return the rotation component of the transform.

A transform is a composition of a rotation and a translation, such that when applied to a vector, the vector is first rotated and then translated. This property returns the rotation part of the transform.

Returns:

rotationRotation instance

A single rotation or a stack of rotations.

Examples

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>>> from scipy.spatial.transform import RigidTransform as Tf
>>> from scipy.spatial.transform import Rotation as R
>>> import numpy as np

The rotation component is extracted from the transform:

>>> t = np.array([1, 0, 0])
>>> r = R.random(3)
>>> tf = Tf.from_components(t, r)
>>> np.allclose(tf.rotation.as_matrix(), r.as_matrix())
True

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