scipy.spatial.transform.Rotation.

reduce#

Rotation.reduce(left=None, right=None, return_indices=False)[source]#

Reduce this rotation with the provided rotation groups.

Reduction of a rotation p is a transformation of the form q = l * p * r, where l and r are chosen from left and right respectively, such that rotation q has the smallest magnitude.

If left and right are rotation groups representing symmetries of two objects rotated by p, then q is the rotation of the smallest magnitude to align these objects considering their symmetries.

Parameters:

leftRotation instance, optional: Object containing the left rotation(s). Default value (None) corresponds to the identity rotation.
rightRotation instance, optional: Object containing the right rotation(s). Default value (None) corresponds to the identity rotation.
return_indicesbool, optional: Whether to return the indices of the rotations from left and right used for reduction.

Returns:

reducedRotation instance: Object containing reduced rotations.
left_best, right_best: integer ndarray: Indices of elements from left and right used for reduction.

Notes

Array API Standard Support

reduce 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.