weldx.transformations.rotation.WXRotation.random¶

WXRotation.random()¶

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 of num rotations.

Return type

Rotation instance

Notes

This function is optimized for efficiently sampling random rotation matrices in three dimensions. For generating random rotation matrices in higher dimensions, see scipy.stats.special_ortho_group.

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]])