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# Spatial Transformations (`scipy.spatial.transform`)

This package implements various spatial transformations. For now, rotations and rigid transforms (rotations and translations) are supported.

## Rotations in 3 dimensions

`RigidTransform`(matrix[, normalize, copy]) | Rigid transform in 3 dimensions.
`Rotation`(quat[, normalize, copy, scalar_first]) | Rotation in 3 dimensions.
`Slerp`(times, rotations) | Spherical Linear Interpolation of Rotations.
`RotationSpline`(times, rotations) | Interpolate rotations with continuous angular rate and acceleration.