[FIXED] Is scipy's euler and rotvec the same thing?

Issue

Does scipy.spatial.transform.Rotation 's rotvec and euler do the samething ? If not, how are they different ?

Solution

What are scipy.spatial.transform.Rotation, ...rotvec and ...euler?

Well the documentation of ..Rotation pretty much says it

This class [] provides an interface to initialize from and represent rotations with:

• Quaternions
• Rotation Matrices
• Rotation Vectors
• Modified Rodrigues Parameters
• Euler Angles

See https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html

So scipy.spatial.transform.Rotation is a generalized interface for rotations. There are those five ways of representing rotations including rotvec and euler. You can give a rotation in any of them using e.g. scipy.spatial.transform.Rotation.from_euler. And once you have a rotation you can transform it to any of those representations using e.g. scipy.spatial.transform.Rotation.as_rotvec.

Why have such an interface?

The advantage of transforming a particular rotation to this generalized one is clear. You can convert between them and do things you usually wanna do with rotations. From the Rotation docs again

The following operations on rotations are supported:

• Application on vectors
• Rotation Composition
• Rotation Inversion
• Rotation Indexing

Answered By - user2640045