scipy.spatial.transform.Rotation.

from_euler#

static Rotation.from_euler(seq, angles, degrees=False)[source]#

Initialize from Euler angles.

Rotations in 3-D can be represented by a sequence of 3 rotations around a sequence of axes. In theory, any three axes spanning the 3-D Euclidean space are enough. In practice, the axes of rotation are chosen to be the basis vectors.

The three rotations can either be in a global frame of reference (extrinsic) or in a body centred frame of reference (intrinsic), which is attached to, and moves with, the object under rotation [1].

Parameters:
seqstring

Specifies sequence of axes for rotations. Up to 3 characters belonging to the set {‘X’, ‘Y’, ‘Z’} for intrinsic rotations, or {‘x’, ‘y’, ‘z’} for extrinsic rotations. Extrinsic and intrinsic rotations cannot be mixed in one function call.

anglesfloat or array_like, shape (…, [1 or 2 or 3])

Euler angles specified in radians (degrees is False) or degrees (degrees is True). Each character in seq defines one axis around which angles turns. The resulting rotation has the shape np.atleast_1d(angles).shape[:-1]. Dimensionless angles are thus only valid for single character seq.

degreesbool, optional

If True, then the given angles are assumed to be in degrees. Default is False.

Returns:
rotationRotation instance

Object containing the rotation represented by the sequence of rotations around given axes with given angles.

Notes

Array API Standard Support

from_euler has experimental support for Python Array API Standard compatible backends in addition to NumPy. Please consider testing these features by setting an environment variable SCIPY_ARRAY_API=1 and providing CuPy, PyTorch, JAX, or Dask arrays as array arguments. The following combinations of backend and device (or other capability) are supported.

Library

CPU

GPU

NumPy

✅

n/a

CuPy

n/a

✅

PyTorch

✅

✅

JAX

✅

✅

Dask

⛔

n/a

See Support for the array API standard for more information.

References

Examples

>>> from scipy.spatial.transform import Rotation as R

Initialize a single rotation along a single axis:

>>> r = R.from_euler('x', 90, degrees=True)
>>> r.as_quat().shape
(4,)

Initialize a single rotation with a given axis sequence:

>>> r = R.from_euler('zyx', [90, 45, 30], degrees=True)
>>> r.as_quat().shape
(4,)

Initialize a stack with a single rotation around a single axis:

>>> r = R.from_euler('x', [[90]], degrees=True)
>>> r.as_quat().shape
(1, 4)

Initialize a stack with a single rotation with an axis sequence:

>>> r = R.from_euler('zyx', [[90, 45, 30]], degrees=True)
>>> r.as_quat().shape
(1, 4)

Initialize multiple elementary rotations in one object:

>>> r = R.from_euler('x', [[90], [45], [30]], degrees=True)
>>> r.as_quat().shape
(3, 4)

Initialize multiple rotations in one object:

>>> r = R.from_euler('zyx', [[90, 45, 30], [35, 45, 90]], degrees=True)
>>> r.as_quat().shape
(2, 4)
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