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‎2d_orient_SO2.html

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<title>SO(2) matrix &mdash; Spatial Maths package 0.9.1
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<title>SO(2) matrix &mdash; Spatial Maths package 0.9.3
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@@ -253,7 +253,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<dl class="py method">
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<dt id="spatialmath.pose2d.SO2.Rand">
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0,</span> <span class="pre">6.283185307179586)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SO2.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SO2.Rand" title="Permalink to this definition"></a></dt>
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0,</span> <span class="pre">6.283185307179586)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SO2.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SO2.Rand" title="Permalink to this definition"></a></dt>
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<dd><p>Construct new SO(2) with random rotation</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
@@ -2112,7 +2112,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
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<p>
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&#169; Copyright 2020, Peter Corke.
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<span class="lastupdated">
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Last updated on 14-Mar-2021.
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</p>

‎2d_pose_SE2.html

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<title>SE(2) matrix &mdash; Spatial Maths package 0.9.1
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<dl class="py method">
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<dt id="spatialmath.pose2d.SE2.Rand">
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">xrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0,</span> <span class="pre">6.283185307179586)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SE2.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SE2.Rand" title="Permalink to this definition"></a></dt>
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">xrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0,</span> <span class="pre">6.283185307179586)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SE2.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SE2.Rand" title="Permalink to this definition"></a></dt>
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<dd><p>Construct a new random SE(2)</p>
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<dt class="field-odd">Parameters</dt>
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&#169; Copyright 2020, Peter Corke.
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‎2d_pose_twist.html

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<title>se(2) twist &mdash; Spatial Maths package 0.9.1
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">Twist3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist3</span><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
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<span class="go">Twist3([1.1672, -0.070112, -0.53452, -0.62667, 1.7697, -0.2247])</span>
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<span class="go">Twist3([-0.20981, 0.81061, 0.015319, -0.031773, -0.0322, -2.6587])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([-1.1672, 0.070112, 0.53452, 0.62667, -1.7697, 0.2247])</span>
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<span class="go">Twist3([0.20981, -0.81061, -0.015319, 0.031773, 0.0322, 2.6587])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">*</span> <span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([0, 0, 0, 0, 0, 0])</span>
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</pre></div>
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‎3d_dualquaternion.html

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‎3d_orient_SO3.html

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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">SO3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span> <span class="o">=</span> <span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
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<span class="go">SO3(array([[ 0.3097, 0.94 , 0.1429],</span>
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<span class="go"> [-0.1969, -0.0837, 0.9769],</span>
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<span class="go"> [ 0.9302, -0.3307, 0.1591]]))</span>
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<span class="go">SO3(array([[ 0.4552, -0.4682, 0.7573],</span>
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<span class="go"> [ 0.6256, -0.437 , -0.6462],</span>
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<span class="go"> [ 0.6335, 0.768 , 0.094 ]]))</span>
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‎3d_orient_unitquaternion.html

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<p>Example:</p>
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">UnitQuaternion</span> <span class="k">as</span> <span class="n">UQ</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
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<span class="go"> 0.5989 &lt;&lt; -0.1796, 0.3022, -0.7195 &gt;&gt;</span>
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<span class="go"> 0.9356 &lt;&lt; 0.1022, 0.2433, 0.2346 &gt;&gt;</span>
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<span class="go"> 0.3274 &lt;&lt; 0.3847, 0.7717, -0.3865 &gt;&gt;</span>
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<span class="go"> 0.7293 &lt;&lt; 0.0375, 0.1385, 0.6690 &gt;&gt;</span>
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<span class="go"> 0.3085 &lt;&lt; 0.3202, 0.6306, 0.6361 &gt;&gt;</span>
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<span class="go"> 0.2980 &lt;&lt; -0.3653, -0.4914, 0.7323 &gt;&gt;</span>
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</pre></div>
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‎3d_plane.html

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‎3d_plucker.html

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‎3d_pose_SE3.html

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<dt id="spatialmath.pose3d.SE3.Rand">
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">xrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">zrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose3d.html#SE3.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose3d.SE3.Rand" title="Permalink to this definition"></a></dt>
678+
<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Rand</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">N</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">xrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">yrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">zrange</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(-</span> <span class="pre">1,</span> <span class="pre">1)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose3d.html#SE3.Rand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose3d.SE3.Rand" title="Permalink to this definition"></a></dt>
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<dd><p>Create a random SE(3)</p>
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@@ -696,11 +696,11 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
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<p>Return an SE3 instance with random rotation and translation.</p>
697697
<ul class="simple">
698698
<li><p><code class="docutils literal notranslate"><span class="pre">SE3.Rand()</span></code> is a random SE(3) translation.</p></li>
699-
<li><p><code class="docutils literal notranslate"><span class="pre">SE3.Rand(N=N)</span></code> is an SE3 object containing a sequence of N random
699+
<li><p><code class="docutils literal notranslate"><span class="pre">SE3.Rand(N)</span></code> is an SE3 object containing a sequence of N random
700700
poses.</p></li>
701701
</ul>
702702
<p>Example:</p>
703-
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
703+
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
704704
<span class="go">SE3([</span>
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<span class="go">array([[ 0.58076657, 0.64578702, -0.49565041, -0.78585825],</span>
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<span class="go"> [-0.57373134, -0.10724881, -0.8119914 , 0.72069253],</span>
@@ -2874,7 +2874,7 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
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<p>
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&#169; Copyright 2020, Peter Corke.
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<span class="lastupdated">
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Last updated on 04-Mar-2021.
2877+
Last updated on 14-Mar-2021.
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</span>
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</p>

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