{"action":"created","comment":{"url":"https://api.github.com/repos/adbugger/scipy/pulls/comments/193977925","pull_request_review_id":127062122,"id":193977925,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDE5Mzk3NzkyNQ==","diff_hunk":"@@ -616,3 +617,14 @@ def as_euler(self, seq, degrees=False):\n             angles = np.rad2deg(angles)\n \n         return angles[0] if self._single else angles\n+\n+    def inv(self):\n+        \"\"\"Returns the inverse of the current rotation\n+\n+        This function returns a new `Rotation` instance containing the inverse\n+        of all the rotations in the current instance.\n+        \"\"\"\n+        quat = self._quat.copy()\n+        # (x,y,z,w) -> (x,y,z,-w)\n+        quat[:, -1] *= -1\n+        return self.__class__(quat, normalized=True)","path":"scipy/spatial/transform/rotation.py","position":22,"original_position":22,"commit_id":"d1b69ac10907a12a910f233f1937e337fcaa0ba5","original_commit_id":"d1b69ac10907a12a910f233f1937e337fcaa0ba5","user":{"login":"nmayorov","id":7074023,"node_id":"MDQ6VXNlcjcwNzQwMjM=","avatar_url":"https://avatars0.githubusercontent.com/u/7074023?v=4","gravatar_id":"","url":"https://api.github.com/users/nmayorov","html_url":"https://github.com/nmayorov","followers_url":"https://api.github.com/users/nmayorov/followers","following_url":"https://api.github.com/users/nmayorov/following{/other_user}","gists_url":"https://api.github.com/users/nmayorov/gists{/gist_id}","starred_url":"https://api.github.com/users/nmayorov/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nmayorov/subscriptions","organizations_url":"https://api.github.com/users/nmayorov/orgs","repos_url":"https://api.github.com/users/nmayorov/repos","events_url":"https://api.github.com/users/nmayorov/events{/privacy}","received_events_url":"https://api.github.com/users/nmayorov/received_events","type":"User","site_admin":false},"body":"My concern that it discards `self._single` property. For now I suggest to fix it, however I also suggest to consider removing this flag all together and considering `(1, 4)` arrays as single automatically (ask this on the mail). The reasoning that this is uncommon case and it will simplify our code in several places.","created_at":"2018-06-08T07:48:27Z","updated_at":"2018-06-08T07:52:38Z","html_url":"https://github.com/adbugger/scipy/pull/13#discussion_r193977925","pull_request_url":"https://api.github.com/repos/adbugger/scipy/pulls/13","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/adbugger/scipy/pulls/comments/193977925"},"html":{"href":"https://github.com/adbugger/scipy/pull/13#discussion_r193977925"},"pull_request":{"href":"https://api.github.com/repos/adbugger/scipy/pulls/13"}}},"pull_request":{"url":"https://api.github.com/repos/adbugger/scipy/pulls/13","id":193498609,"node_id":"MDExOlB1bGxSZXF1ZXN0MTkzNDk4NjA5","html_url":"https://github.com/adbugger/scipy/pull/13","diff_url":"https://github.com/adbugger/scipy/pull/13.diff","patch_url":"https://github.com/adbugger/scipy/pull/13.patch","issue_url":"https://api.github.com/repos/adbugger/scipy/issues/13","number":13,"state":"open","locked":false,"title":"Initial implementation of the inverse function","user":{"login":"adbugger","id":15844796,"node_id":"MDQ6VXNlcjE1ODQ0Nzk2","avatar_url":"https://avatars1.githubusercontent.com/u/15844796?v=4","gravatar_id":"","url":"https://api.github.com/users/adbugger","html_url":"https://github.com/adbugger","followers_url":"https://api.github.com/users/adbugger/followers","following_url":"https://api.github.com/users/adbugger/following{/other_user}","gists_url":"https://api.github.com/users/adbugger/gists{/gist_id}","starred_url":"https://api.github.com/users/adbugger/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adbugger/subscriptions","organizations_url":"https://api.github.com/users/adbugger/orgs","repos_url":"https://api.github.com/users/adbugger/repos","events_url":"https://api.github.com/users/adbugger/events{/privacy}","received_events_url":"https://api.github.com/users/adbugger/received_events","type":"User","site_admin":false},"body":"This function was the least controversial of all and it was generally agreed that the lazy evaluation approach did not offer enough speedups to justify the additional code complexity. 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