[SciPy-User] rotation matrices, Euler angles and all that jazz

Christoph Gohlke cgohlke@uci....
Thu Aug 18 14:05:43 CDT 2011

On 8/18/2011 11:21 AM, Piotr Zolnierczuk wrote:
> Hi,
> The question has probably been asked here before ...
> Is there a scipy/numpy module which facilitates computation of
> rotation matrices, Euler angles, etc.?
> They are ever present in many branches of physics and re-inventing
> them again seems like a waste of time.
> I've been using a module written by Chrisoph Gohlke (UCI)
> http://www.lfd.uci.edu/~gohlke/code/transformations.py.html, but it
> would be nice if I could use something that is already included in
> SciPy.
> Piotr

A quaternion dtype will probably make into the next version of numpy 
<http://mail.scipy.org/pipermail/numpy-discussion/2011-July/057675.html>. That 
will be able to replace ~1/3 of the transformations.py module.

The transformations.py module was shortly discussed on the numpy list in 

I had an off list discussion on how to integrate some of the functions 
in numpy/scipy. Consent was that if such a module makes it into 
numpy/scipy it should :

1) support any float dtypes
2) support 2D, 3D, and 3D homogeneous coordinates.
3) support both "column vectors on the right" and "row vectors on the 
left" conventions


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