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Update documentation
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‎2d_orient_SO2.html

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+11-9Lines changed: 11 additions & 9 deletions
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@@ -1185,7 +1185,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dd><p>Append a value to an instance (SMUserList superclass method)</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>x</strong> (<a class="reference internal" href="classes-3d.html#spatialmath.quaternion.Quaternion" title="spatialmath.quaternion.Quaternion"><em>Quaternion</em></a><em> or </em><em>UnitQuaternion instance</em>) – the value to append</p>
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<dd class="field-odd"><p><strong>x</strong> (<a class="reference internal" href="3d_quaternion.html#spatialmath.quaternion.Quaternion" title="spatialmath.quaternion.Quaternion"><em>Quaternion</em></a><em> or </em><em>UnitQuaternion instance</em>) – the value to append</p>
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</dd>
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<dt class="field-even">Raises</dt>
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<dd class="field-even"><p><strong>ValueError</strong> – incorrect type of appended object</p>
@@ -1219,12 +1219,13 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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bad type passed</p>
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<p>The value <code class="docutils literal notranslate"><span class="pre">arg</span></code> can be any of:</p>
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<ol class="arabic simple">
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<li><p>None, an identity value is created</p></li>
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<li><p>a numpy.ndarray of the appropriate shape and value which is valid for the subclass</p></li>
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<li><p>a list whose elements all meet the criteria above</p></li>
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<li><p>an instance of the subclass</p></li>
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<li><p>a list whose elements are all singelton instances of the subclass</p></li>
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</ol>
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<p>For cases 1 and 2, a NumPy array or a list of NumPy array is passed.
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<p>For cases 2 and 3, a NumPy array or a list of NumPy array is passed.
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Each NumPyarray is tested for validity (if <code class="docutils literal notranslate"><span class="pre">check</span></code> is False a cursory
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check of shape is made, if <code class="docutils literal notranslate"><span class="pre">check</span></code> is True the numerical value is
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inspected) and converted to the required internal format by the
@@ -1235,7 +1236,8 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<code class="docutils literal notranslate"><span class="pre">B</span></code> is passed and <code class="docutils literal notranslate"><span class="pre">B</span></code> is an element of the <code class="docutils literal notranslate"><span class="pre">convertfrom</span></code> argument,
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then <code class="docutils literal notranslate"><span class="pre">B.A()</span></code> will be invoked to perform the type conversion.</p>
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<p>Examples:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">SE3</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">identity</span><span class="p">(</span><span class="mi">4</span><span class="p">))</span>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">SE3</span><span class="p">()</span>
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<span class="n">SE3</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">identity</span><span class="p">(</span><span class="mi">4</span><span class="p">))</span>
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<span class="n">SE3</span><span class="p">([</span><span class="n">np</span><span class="o">.</span><span class="n">identity</span><span class="p">(</span><span class="mi">4</span><span class="p">),</span> <span class="n">np</span><span class="o">.</span><span class="n">identity</span><span class="p">(</span><span class="mi">4</span><span class="p">)])</span>
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<span class="n">SE3</span><span class="p">(</span><span class="n">SE3</span><span class="p">())</span>
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<span class="n">SE3</span><span class="p">([</span><span class="n">SE3</span><span class="p">(),</span> <span class="n">SE3</span><span class="p">()])</span>
@@ -1464,7 +1466,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dd class="field-even"><p>interpolated pose</p>
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</dd>
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<dt class="field-odd">Return type</dt>
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<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2">SO2</a>, <a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2">SE2</a>, <a class="reference internal" href="classes-3d.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3">SO3</a>, SE3 instance</p>
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<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2">SO2</a>, <a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2">SE2</a>, <a class="reference internal" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3">SO3</a>, SE3 instance</p>
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</dd>
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</dl>
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<ul class="simple">
@@ -1547,7 +1549,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dd><p>Test if object belongs to SE(n) group (superclass property)</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>self</strong> (<a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2"><em>SO2</em></a><em>, </em><a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><em>SE2</em></a><em>, </em><a class="reference internal" href="classes-3d.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><em>SO3</em></a><em>, </em><em>SE3 instance</em>) – object to test</p>
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<dd class="field-odd"><p><strong>self</strong> (<a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2"><em>SO2</em></a><em>, </em><a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><em>SE2</em></a><em>, </em><a class="reference internal" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><em>SO3</em></a><em>, </em><em>SE3 instance</em>) – object to test</p>
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</dd>
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<dt class="field-even">Returns</dt>
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<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">True</span></code> if object is instance of SE2 or SE3</p>
@@ -1564,7 +1566,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dd><p>Test if object belongs to SO(n) group (superclass property)</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>self</strong> (<a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2"><em>SO2</em></a><em>, </em><a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><em>SE2</em></a><em>, </em><a class="reference internal" href="classes-3d.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><em>SO3</em></a><em>, </em><em>SE3 instance</em>) – object to test</p>
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<dd class="field-odd"><p><strong>self</strong> (<a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2"><em>SO2</em></a><em>, </em><a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><em>SE2</em></a><em>, </em><a class="reference internal" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><em>SO3</em></a><em>, </em><em>SE3 instance</em>) – object to test</p>
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</dd>
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<dt class="field-even">Returns</dt>
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<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">True</span></code> if object is instance of SO2 or SO3</p>
@@ -1743,7 +1745,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dd class="field-odd"><p>pose</p>
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</dd>
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<dt class="field-even">Return type</dt>
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<dd class="field-even"><p><a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2">SO2</a>, <a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2">SE2</a>, <a class="reference internal" href="classes-3d.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3">SO3</a>, SE3 instance</p>
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<dd class="field-even"><p><a class="reference internal" href="#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2">SO2</a>, <a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2">SE2</a>, <a class="reference internal" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3">SO3</a>, SE3 instance</p>
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</dd>
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</dl>
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<ul class="simple">
@@ -1931,7 +1933,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<p>Apply symbolic simplification to every element of every value in the
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pose instane.</p>
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<p>Example:</p>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">a</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rx</span><span class="p">(</span><span class="n">sympy</span><span class="o">.</span><span class="n">symbols</span><span class="p">(</span><span class="s1">&#39;theta&#39;</span><span class="p">)</span>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">a</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rx</span><span class="p">(</span><span class="n">sympy</span><span class="o">.</span><span class="n">symbols</span><span class="p">(</span><span class="s1">&#39;theta&#39;</span><span class="p">))</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">b</span> <span class="o">=</span> <span class="n">a</span> <span class="o">*</span> <span class="n">a</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">b</span>
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<span class="go">SE3(array([[1, 0, 0, 0.0],</span>
@@ -2040,7 +2042,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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&copy; Copyright 2020, Peter Corke
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<span class="lastupdated">
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Last updated on 16-Nov-2020.
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Last updated on 22-Nov-2020.
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</span>
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</p>

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