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Commit 9c4a77b

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myeatman-bdaimyeatman-bdai
authored
Fix trailing whitespace and end of file lines. (#164)
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‎.github/CONTRIBUTORS.md

Copy file name to clipboardExpand all lines: .github/CONTRIBUTORS.md
+1-1Lines changed: 1 addition & 1 deletion
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@@ -3,4 +3,4 @@ A number of people have contributed to this, and earlier, versions of this Toolb
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* Jesse Haviland, 2020 (part of the ropy project)
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* Luis Fernando Lara Tobar, 2008
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* Josh Carrigg Hodson, Aditya Dua, Chee Ho Chan, 2017 (part of the robopy project)
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* Peter Corke
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* Peter Corke

‎.pre-commit-config.yaml

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+7-8Lines changed: 7 additions & 8 deletions
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@@ -18,17 +18,16 @@ repos:
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rev: v4.5.0
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hooks:
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- id: end-of-file-fixer
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- id: debug-statements # Ensure we don't commit `import pdb; pdb.set_trace()`
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exclude: |
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(?x)^(
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docker/ros/web/static/.*|
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)$
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(?x)(
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^docs/
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)
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- id: debug-statements # Ensure we don't commit `import pdb; pdb.set_trace()`
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- id: trailing-whitespace
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exclude: |
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(?x)^(
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docker/ros/web/static/.*|
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(.*/).*\.patch|
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)$
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(?x)(
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^docs/
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)
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# - repo: https://github.com/pre-commit/mirrors-mypy
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# rev: v1.6.1
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# hooks:

‎Makefile

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@@ -39,4 +39,3 @@ clean: .FORCE
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(cd docs; make clean)
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-rm -r *.egg-info
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-rm -r dist build
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‎README.md

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@@ -45,8 +45,8 @@ space:
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| ------------ | ---------------- | -------- |
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| pose | ``SE3`` ``Twist3`` ``UnitDualQuaternion`` | ``SE2`` ``Twist2`` |
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| orientation | ``SO3`` ``UnitQuaternion`` | ``SO2`` |
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More specifically:
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* `SE3` matrices belonging to the group $\mathbf{SE}(3)$ for position and orientation (pose) in 3-dimensions
@@ -160,26 +160,26 @@ For example, to create an object representing a rotation of 0.3 radians about th
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>>> from spatialmath import SO3, SE3
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>>> R1 = SO3.Rx(0.3)
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>>> R1
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1 0 0
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0 0.955336 -0.29552
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0 0.29552 0.955336
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1 0 0
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0 0.955336 -0.29552
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0 0.29552 0.955336
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```
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while a rotation of 30 deg about the z-axis is
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```python
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>>> R2 = SO3.Rz(30, 'deg')
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>>> R2
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0.866025 -0.5 0
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0.5 0.866025 0
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0 0 1
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0.866025 -0.5 0
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0.5 0.866025 0
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0 0 1
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```
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and the composition of these two rotations is
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and the composition of these two rotations is
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```python
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>>> R = R1 * R2
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0.866025 -0.5 0
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0.433013 0.75 -0.5
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0.25 0.433013 0.866025
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0.866025 -0.5 0
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0.433013 0.75 -0.5
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0.25 0.433013 0.866025
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```
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We can find the corresponding Euler angles (in radians)
@@ -198,16 +198,16 @@ Frequently in robotics we want a sequence, a trajectory, of rotation matrices or
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>>> len(R)
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3
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>>> R[1]
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1 0 0
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0 0.955336 -0.29552
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0 0.29552 0.955336
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1 0 0
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0 0.955336 -0.29552
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0 0.29552 0.955336
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```
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and this can be used in `for` loops and list comprehensions.
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An alternative way of constructing this would be (`R1`, `R2` defined above)
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```python
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>>> R = SO3( [ SO3(), R1, R2 ] )
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>>> R = SO3( [ SO3(), R1, R2 ] )
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>>> len(R)
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3
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```
@@ -233,7 +233,7 @@ will produce a result where each element is the product of each element of the l
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Similarly
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```python
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>>> A = SO3.Ry(0.5) * R
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>>> A = SO3.Ry(0.5) * R
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>>> len(R)
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32
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```
@@ -242,7 +242,7 @@ will produce a result where each element is the product of the left-hand side wi
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Finally
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```python
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>>> A = R * R
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>>> A = R * R
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>>> len(R)
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32
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```
@@ -267,10 +267,10 @@ We can print and plot these objects as well
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```
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>>> T = SE3(1,2,3) * SE3.Rx(30, 'deg')
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>>> T.print()
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1 0 0 1
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0 0.866025 -0.5 2
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0 0.5 0.866025 3
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0 0 0 1
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1 0 0 1
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0 0.866025 -0.5 2
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0 0.5 0.866025 3
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0 0 0 1
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>>> T.printline()
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t = 1, 2, 3; rpy/zyx = 30, 0, 0 deg
@@ -339,7 +339,7 @@ array([[1., 0., 1.],
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[0., 0., 1.]])
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transl2( (1,2) )
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Out[444]:
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Out[444]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
@@ -349,7 +349,7 @@ array([[1., 0., 1.],
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```
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transl2( np.array([1,2]) )
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Out[445]:
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Out[445]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
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a = T[1,1]
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a
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Out[256]:
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Out[256]:
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cos(theta)
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type(a)
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Out[255]: cos

‎spatialmath/base/README.md

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@@ -21,9 +21,9 @@ import spatialmath as sm
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R = sm.SO3.Rx(30, 'deg')
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print(R)
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1 0 0
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0 0.866025 -0.5
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0 0.5 0.866025
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1 0 0
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0 0.866025 -0.5
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0 0.5 0.866025
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```
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which constructs a rotation about the x-axis by 30 degrees.
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@@ -45,7 +45,7 @@ array([[ 1. , 0. , 0. ],
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[ 0. , 0.29552021, 0.95533649]])
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>>> rotx(30, unit='deg')
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Out[438]:
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Out[438]:
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array([[ 1. , 0. , 0. ],
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[ 0. , 0.8660254, -0.5 ],
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[ 0. , 0.5 , 0.8660254]])
@@ -64,7 +64,7 @@ We also support multiple ways of passing vector information to functions that re
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```
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transl2(1, 2)
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Out[442]:
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Out[442]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
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```
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transl2( [1,2] )
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Out[443]:
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Out[443]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
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transl2( (1,2) )
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Out[444]:
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Out[444]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
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```
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transl2( np.array([1,2]) )
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Out[445]:
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Out[445]:
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array([[1., 0., 1.],
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[0., 1., 2.],
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[0., 0., 1.]])
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These classes are all derived from two parent classes:
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* `RTBPose` which provides common functionality for all
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* `UserList` which provdides the ability to act like a list
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* `UserList` which provdides the ability to act like a list
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The latter is important because frequnetly in robotics we want a sequence, a trajectory, of rotation matrices or poses. However a list of these items has the type `list` and the elements are not enforced to be homogeneous, ie. a list could contain a mixture of classes.
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@@ -178,7 +178,7 @@ Out[259]: int
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179179
a = T[1,1]
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a
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Out[256]:
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Out[256]:
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cos(theta)
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type(a)
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Out[255]: cos
@@ -226,10 +226,3 @@ TypeError: can't convert expression to float
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| t2r | yes |
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| rotx | yes |
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| rotx | yes |
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‎spatialmath/base/argcheck.py

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@@ -5,7 +5,7 @@
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"""
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Utility functions for testing and converting passed arguments. Used in all
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spatialmath functions and classes to provides for flexibility in argument types
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spatialmath functions and classes to provides for flexibility in argument types
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that can be passed.
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"""
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‎spatialmath/base/symbolic.py

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+1-1Lines changed: 1 addition & 1 deletion
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Symbolic arguments.
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If SymPy is not installed then only the standard numeric operations are
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supported.
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supported.
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"""
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import math

‎spatialmath/base/transformsNd.py

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -514,7 +514,7 @@ def skew(v):
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if len(v) == 1:
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# fmt: off
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return np.array([
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[0.0, -v[0]],
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[0.0, -v[0]],
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[v[0], 0.0]
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]) # type: ignore
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# fmt: on

‎spatialmath/geom3d.py

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+2-2Lines changed: 2 additions & 2 deletions
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@@ -507,7 +507,7 @@ def vec(self) -> R6:
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def skew(self) -> R4x4:
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r"""
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Line as a Plucker skew-symmetric matrix
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:return: Skew-symmetric matrix form of Plucker coordinates
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:rtype: ndarray(4,4)
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@@ -523,7 +523,7 @@ def skew(self) -> R4x4:
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-\omega_x & -\omega_y & -\omega_z & 0 \end{bmatrix}
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.. note::
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- For two homogeneous points P and Q on the line, :math:`PQ^T-QP^T` is
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also skew symmetric.
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- The projection of Plucker line by a perspective camera is a

‎spatialmath/spatialvector.py

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@@ -10,7 +10,7 @@
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:top-classes: collections.UserList
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:parts: 1
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.. note:: Compared to Featherstone's papers these spatial vectors have the
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.. note:: Compared to Featherstone's papers these spatial vectors have the
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translational components first, followed by rotational components.
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"""
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