Added scipy.spatial.transform Rotation and Slerp classes

CHANGELOG.md

@@ -8,6 +8,9 @@ Remember to align the itemized text with the first line of an item within a list
 
 ## jax 0.4.12
 
+* Changes
+  * Added {class}`scipy.spatial.transform.Rotation` and {class}`scipy.spatial.transform.Slerp`
+
 * Deprecations
   * The following APIs have been removed after a 3 month deprecation period, in
     accordance with the {ref}`api-compatibility` policy:

docs/jax.scipy.rst

@@ -89,6 +89,17 @@ jax.scipy.signal
    stft
    welch
 
+jax.scipy.spatial.transform
+---------------------------
+
+.. automodule:: jax.scipy.spatial.transform
+
+.. autosummary::
+  :toctree: _autosummary
+
+   Rotation
+   Slerp
+
 jax.scipy.sparse.linalg
 -----------------------
 

jax/_src/scipy/spatial/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2023 The JAX Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.