scipy.spatial.transform.RigidTransform.

from_rotation#

classmethod RigidTransform.from_rotation(cls, rotation)#

从旋转初始化，没有平移。

当将此变换应用于向量 v 时，结果与将旋转应用于向量相同。Tf.from_rotation(r).apply(v) == r.apply(v)

参数:

rotationRotation 实例: 单个旋转或一堆旋转。

返回:

transformRigidTransform 实例

示例

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

从单个旋转创建变换

>>> r = R.from_euler("ZYX", [90, 30, 0], degrees=True)
>>> r.apply([1, 0, 0])
array([0.       , 0.8660254, -0.5     ])
>>> tf = Tf.from_rotation(r)
>>> tf.apply([1, 0, 0])
array([0.       , 0.8660254, -0.5     ])
>>> tf.single
True

变换矩阵的左上 3x3 子矩阵是旋转矩阵

>>> np.allclose(tf.as_matrix()[:3, :3], r.as_matrix(), atol=1e-12)
True

从一堆旋转创建多个变换

>>> r = R.from_euler("ZYX", [[90, 30, 0], [45, 30, 60]], degrees=True)
>>> r.apply([1, 0, 0])
array([[0.        , 0.8660254 , -0.5       ],
       [0.61237244, 0.61237244, -0.5       ]])
>>> tf = Tf.from_rotation(r)
>>> tf.apply([1, 0, 0])
array([[0.        , 0.8660254 , -0.5       ],
       [0.61237244, 0.61237244, -0.5       ]])
>>> tf.single
False
>>> len(tf)
2