weldx.transformations.rotation.WXRotation.random¶
-
classmethod
WXRotation.
random
(num=None, random_state=None)¶ Generate uniformly distributed rotations.
- Parameters
num (int or None, optional) – Number of random rotations to generate. If None (default), then a single rotation is generated.
random_state (int, RandomState instance or None, optional) – Accepts an integer as a seed for the random generator or a RandomState object. If None (default), uses global
numpy.random
random state.
- Returns
random_rotation – Contains a single rotation if
num
is None. Otherwise contains a stack ofnum
rotations.- Return type
Rotation
instance
Examples
>>> from scipy.spatial.transform import Rotation as R
Sample a single rotation:
>>> R.random(random_state=1234).as_euler('zxy', degrees=True) array([-110.5976185 , 55.32758512, 76.3289269 ])
Sample a stack of rotations:
>>> R.random(5, random_state=1234).as_euler('zxy', degrees=True) array([[-110.5976185 , 55.32758512, 76.3289269 ], [ -91.59132005, -14.3629884 , -93.91933182], [ 25.23835501, 45.02035145, -121.67867086], [ -51.51414184, -15.29022692, -172.46870023], [ -81.63376847, -27.39521579, 2.60408416]])