<div dir="ltr"><div dir="ltr"><div dir="ltr" style="color:rgb(0,0,0)"><div dir="ltr">I've noticed that this class supports four of the five common representations of a rotation.  The one that's missing is the rotation matrix.  I can supply code that converts an arbitrary sequence of Euler rotations into a rotation matrix.  It would also be nice to be able to go in the reverse direction, but I haven't yet figured that out.</div><div dir="ltr"><br></div><div dir="ltr">Phillip<div><h1 style="margin:9.5px 0px 0.5em;font-family:"Trebuchet MS",sans-serif;line-height:38px;color:rgb(85,85,85);font-size:26px;border-bottom:0px solid rgb(204,204,204)">scipy.spatial.transform.Rotation<a href="https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html#scipy-spatial-transform-rotation" title="Permalink to this headline" target="_blank" style="color:rgb(85,85,85);text-decoration-line:none"></a></h1><dl style="margin-bottom:15px;color:rgb(51,51,51);font-family:"Open Sans",sans-serif;font-size:13px"><dt id="gmail-m_2134568599029425998gmail-scipy.spatial.transform.Rotation" style="line-height:19px;font-weight:bold;background-color:rgb(251,229,78)"><em style="font-weight:normal">class </em><code style="padding:inherit;font:inherit;color:inherit;border-radius:3px;background-color:transparent;border:inherit;white-space:nowrap">scipy.spatial.transform.</code><code style="padding:inherit;font-family:inherit;font-size:16px;color:inherit;border-radius:3px;background-color:transparent;border:inherit;white-space:nowrap;font-style:inherit;font-variant:inherit;font-stretch:inherit;line-height:inherit">Rotation</code><span style="font-size:larger">(</span><em style="font-weight:normal">quat</em>, <em style="font-weight:normal">normalized=False</em>, <em style="font-weight:normal">copy=True</em><span style="font-size:larger">)</span><a href="https://github.com/scipy/scipy/blob/v1.3.0/scipy/spatial/transform/rotation.py#L175-L1634" target="_blank" style="color:rgb(0,136,204);text-decoration-line:none"><span style="float:right">[source]</span></a><a href="https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html#scipy.spatial.transform.Rotation" title="Permalink to this definition" target="_blank" style="color:rgb(0,136,204);text-decoration-line:none"></a></dt><dd style="line-height:19px;margin-left:30px;margin-top:3px;margin-bottom:10px"><p style="margin:0px 0px 9.5px">Rotation in 3 dimensions.</p><p style="margin:0px 0px 9.5px">This class provides an interface to initialize from and represent rotations with:</p><ul style="padding:0px;margin:0px 0px 10px 25px"><li style="margin-left:15px;line-height:19px"><p style="margin:0px">Quaternions</p></li><li style="margin-left:15px;line-height:19px"><p style="margin:0px">Direction Cosine Matrices</p></li><li style="margin-left:15px;line-height:19px"><p style="margin:0px">Rotation Vectors</p></li><li style="margin-left:15px;line-height:19px"><p style="margin:0px">Euler angles</p></li></ul></dd></dl></div></div></div></div></div>