weldx.transformations.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 ({None, int, numpy.random.Generator,) –
numpy.random.RandomState}, optional

If seed is None (or np.random), the numpy.random.RandomState singleton is used. If seed is an int, a new RandomState instance is used, seeded with seed. If seed is already a Generator or RandomState instance then that instance is used.

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().as_euler('zxy', degrees=True)
array([-110.5976185 ,   55.32758512,   76.3289269 ])  # random

Sample a stack of rotations:

>>> R.random(5).as_euler('zxy', degrees=True)
array([[-110.5976185 ,   55.32758512,   76.3289269 ],  # random
       [ -91.59132005,  -14.3629884 ,  -93.91933182],
       [  25.23835501,   45.02035145, -121.67867086],
       [ -51.51414184,  -15.29022692, -172.46870023],
       [ -81.63376847,  -27.39521579,    2.60408416]])