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‎2d_orient_SO2.html

Copy file name to clipboardExpand all lines: 2d_orient_SO2.html
+52-10Lines changed: 52 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1457,12 +1457,12 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
14571457

14581458
<dl class="py method">
14591459
<dt id="spatialmath.pose2d.SO2.interp">
1460-
<code class="sig-name descname"><span class="pre">interp</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SO2.interp" title="Permalink to this definition"></a></dt>
1461-
<dd><p>Interpolate pose (superclass method)</p>
1460+
<code class="sig-name descname"><span class="pre">interp</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SO2.interp" title="Permalink to this definition"></a></dt>
1461+
<dd><p>Interpolate between poses (superclass method)</p>
14621462
<dl class="field-list simple">
14631463
<dt class="field-odd">Parameters</dt>
14641464
<dd class="field-odd"><ul class="simple">
1465-
<li><p><strong>start</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – initial pose</p></li>
1465+
<li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
14661466
<li><p><strong>s</strong> (<em>array_like</em>) – interpolation coefficient, range 0 to 1</p></li>
14671467
</ul>
14681468
</dd>
@@ -1474,9 +1474,49 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
14741474
</dd>
14751475
</dl>
14761476
<ul class="simple">
1477-
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(s)</span></code> interpolates the pose X between identity when s=0
1478-
and X when s=1.</p></li>
1477+
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(Y,</span> <span class="pre">s)</span></code> interpolates pose between X between when s=0
1478+
and Y when s=1.</p></li>
1479+
</ul>
1480+
<p>Example:</p>
1481+
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go">IndexError: list index out of range</span>
1482+
</pre></div>
1483+
</div>
1484+
<div class="admonition note">
1485+
<p class="admonition-title">Note</p>
1486+
<ul class="simple">
1487+
<li><p>For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).</p></li>
1488+
</ul>
1489+
</div>
1490+
<dl class="field-list simple">
1491+
<dt class="field-odd">Seealso</dt>
1492+
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SO2.interp1" title="spatialmath.pose2d.SO2.interp1"><code class="xref py py-func docutils literal notranslate"><span class="pre">interp1()</span></code></a>, <a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
1493+
</dd>
1494+
<dt class="field-even">SymPy</dt>
1495+
<dd class="field-even"><p>not supported</p>
1496+
</dd>
1497+
</dl>
1498+
</dd></dl>
1499+
1500+
<dl class="py method">
1501+
<dt id="spatialmath.pose2d.SO2.interp1">
1502+
<code class="sig-name descname"><span class="pre">interp1</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SO2.interp1" title="Permalink to this definition"></a></dt>
1503+
<dd><p>Interpolate pose (superclass method)</p>
1504+
<dl class="field-list simple">
1505+
<dt class="field-odd">Parameters</dt>
1506+
<dd class="field-odd"><ul class="simple">
1507+
<li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
1508+
<li><p><strong>s</strong> (<em>array_like</em>) – interpolation coefficient, range 0 to 1</p></li>
14791509
</ul>
1510+
</dd>
1511+
<dt class="field-even">Returns</dt>
1512+
<dd class="field-even"><p>interpolated pose</p>
1513+
</dd>
1514+
<dt class="field-odd">Return type</dt>
1515+
<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>
1516+
</dd>
1517+
</dl>
1518+
<ul>
1519+
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(s)</span></code> interpolates pose between identity when s=0, and X when s=1.</p>
14801520
<blockquote>
14811521
<div><table class="docutils align-default">
14821522
<colgroup>
@@ -1496,21 +1536,23 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
14961536
<tr class="row-even"><td><p>1</p></td>
14971537
<td><p>1</p></td>
14981538
<td><p>1</p></td>
1499-
<td><p>Y = interp(identity, X, s)</p></td>
1539+
<td><p>Y = interp(X, s)</p></td>
15001540
</tr>
15011541
<tr class="row-odd"><td><p>M</p></td>
15021542
<td><p>1</p></td>
15031543
<td><p>M</p></td>
1504-
<td><p>Y[i] = interp(T0, X[i], s)</p></td>
1544+
<td><p>Y[i] = interp(X[i], s)</p></td>
15051545
</tr>
15061546
<tr class="row-even"><td><p>1</p></td>
15071547
<td><p>M</p></td>
15081548
<td><p>M</p></td>
1509-
<td><p>Y[i] = interp(T0, X, s[i])</p></td>
1549+
<td><p>Y[i] = interp(X, s[i])</p></td>
15101550
</tr>
15111551
</tbody>
15121552
</table>
15131553
</div></blockquote>
1554+
</li>
1555+
</ul>
15141556
<p>Example:</p>
15151557
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">x</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="mf">0.3</span><span class="p">)</span>
15161558
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">x</span><span class="o">.</span><span class="n">interp</span><span class="p">(</span><span class="mi">0</span><span class="p">))</span>
@@ -1539,7 +1581,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
15391581
</ol>
15401582
<dl class="field-list simple">
15411583
<dt class="field-odd">Seealso</dt>
1542-
<dd class="field-odd"><p><a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
1584+
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SO2.interp" title="spatialmath.pose2d.SO2.interp"><code class="xref py py-func docutils literal notranslate"><span class="pre">interp()</span></code></a>, <a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
15431585
</dd>
15441586
<dt class="field-even">SymPy</dt>
15451587
<dd class="field-even"><p>not supported</p>
@@ -2039,7 +2081,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
20392081
<p>
20402082
&#169; Copyright 2020, Peter Corke.
20412083
<span class="lastupdated">
2042-
Last updated on 15-Feb-2021.
2084+
Last updated on 24-Feb-2021.
20432085
</span>
20442086

20452087
</p>

‎2d_pose_SE2.html

Copy file name to clipboardExpand all lines: 2d_pose_SE2.html
+52-10Lines changed: 52 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1464,12 +1464,12 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
14641464

14651465
<dl class="py method">
14661466
<dt id="spatialmath.pose2d.SE2.interp">
1467-
<code class="sig-name descname"><span class="pre">interp</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SE2.interp" title="Permalink to this definition"></a></dt>
1468-
<dd><p>Interpolate pose (superclass method)</p>
1467+
<code class="sig-name descname"><span class="pre">interp</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SE2.interp" title="Permalink to this definition"></a></dt>
1468+
<dd><p>Interpolate between poses (superclass method)</p>
14691469
<dl class="field-list simple">
14701470
<dt class="field-odd">Parameters</dt>
14711471
<dd class="field-odd"><ul class="simple">
1472-
<li><p><strong>start</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – initial pose</p></li>
1472+
<li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
14731473
<li><p><strong>s</strong> (<em>array_like</em>) – interpolation coefficient, range 0 to 1</p></li>
14741474
</ul>
14751475
</dd>
@@ -1481,9 +1481,49 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
14811481
</dd>
14821482
</dl>
14831483
<ul class="simple">
1484-
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(s)</span></code> interpolates the pose X between identity when s=0
1485-
and X when s=1.</p></li>
1484+
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(Y,</span> <span class="pre">s)</span></code> interpolates pose between X between when s=0
1485+
and Y when s=1.</p></li>
1486+
</ul>
1487+
<p>Example:</p>
1488+
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go">IndexError: list index out of range</span>
1489+
</pre></div>
1490+
</div>
1491+
<div class="admonition note">
1492+
<p class="admonition-title">Note</p>
1493+
<ul class="simple">
1494+
<li><p>For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).</p></li>
1495+
</ul>
1496+
</div>
1497+
<dl class="field-list simple">
1498+
<dt class="field-odd">Seealso</dt>
1499+
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SE2.interp1" title="spatialmath.pose2d.SE2.interp1"><code class="xref py py-func docutils literal notranslate"><span class="pre">interp1()</span></code></a>, <a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
1500+
</dd>
1501+
<dt class="field-even">SymPy</dt>
1502+
<dd class="field-even"><p>not supported</p>
1503+
</dd>
1504+
</dl>
1505+
</dd></dl>
1506+
1507+
<dl class="py method">
1508+
<dt id="spatialmath.pose2d.SE2.interp1">
1509+
<code class="sig-name descname"><span class="pre">interp1</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SE2.interp1" title="Permalink to this definition"></a></dt>
1510+
<dd><p>Interpolate pose (superclass method)</p>
1511+
<dl class="field-list simple">
1512+
<dt class="field-odd">Parameters</dt>
1513+
<dd class="field-odd"><ul class="simple">
1514+
<li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
1515+
<li><p><strong>s</strong> (<em>array_like</em>) – interpolation coefficient, range 0 to 1</p></li>
14861516
</ul>
1517+
</dd>
1518+
<dt class="field-even">Returns</dt>
1519+
<dd class="field-even"><p>interpolated pose</p>
1520+
</dd>
1521+
<dt class="field-odd">Return type</dt>
1522+
<dd class="field-odd"><p><a class="reference internal" href="2d_orient_SO2.html#spatialmath.pose2d.SO2" title="spatialmath.pose2d.SO2">SO2</a>, <a class="reference internal" href="#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>
1523+
</dd>
1524+
</dl>
1525+
<ul>
1526+
<li><p><code class="docutils literal notranslate"><span class="pre">X.interp(s)</span></code> interpolates pose between identity when s=0, and X when s=1.</p>
14871527
<blockquote>
14881528
<div><table class="docutils align-default">
14891529
<colgroup>
@@ -1503,21 +1543,23 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
15031543
<tr class="row-even"><td><p>1</p></td>
15041544
<td><p>1</p></td>
15051545
<td><p>1</p></td>
1506-
<td><p>Y = interp(identity, X, s)</p></td>
1546+
<td><p>Y = interp(X, s)</p></td>
15071547
</tr>
15081548
<tr class="row-odd"><td><p>M</p></td>
15091549
<td><p>1</p></td>
15101550
<td><p>M</p></td>
1511-
<td><p>Y[i] = interp(T0, X[i], s)</p></td>
1551+
<td><p>Y[i] = interp(X[i], s)</p></td>
15121552
</tr>
15131553
<tr class="row-even"><td><p>1</p></td>
15141554
<td><p>M</p></td>
15151555
<td><p>M</p></td>
1516-
<td><p>Y[i] = interp(T0, X, s[i])</p></td>
1556+
<td><p>Y[i] = interp(X, s[i])</p></td>
15171557
</tr>
15181558
</tbody>
15191559
</table>
15201560
</div></blockquote>
1561+
</li>
1562+
</ul>
15211563
<p>Example:</p>
15221564
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">x</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="mf">0.3</span><span class="p">)</span>
15231565
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">x</span><span class="o">.</span><span class="n">interp</span><span class="p">(</span><span class="mi">0</span><span class="p">))</span>
@@ -1546,7 +1588,7 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
15461588
</ol>
15471589
<dl class="field-list simple">
15481590
<dt class="field-odd">Seealso</dt>
1549-
<dd class="field-odd"><p><a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
1591+
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.pose2d.SE2.interp" title="spatialmath.pose2d.SE2.interp"><code class="xref py py-func docutils literal notranslate"><span class="pre">interp()</span></code></a>, <a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.trinterp" title="spatialmath.base.transforms3d.trinterp"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp()</span></code></a>, <a class="reference internal" href="func_quat.html#spatialmath.base.quaternions.slerp" title="spatialmath.base.quaternions.slerp"><code class="xref py py-func docutils literal notranslate"><span class="pre">slerp()</span></code></a>, <a class="reference internal" href="func_2d.html#spatialmath.base.transforms2d.trinterp2" title="spatialmath.base.transforms2d.trinterp2"><code class="xref py py-func docutils literal notranslate"><span class="pre">trinterp2()</span></code></a></p>
15501592
</dd>
15511593
<dt class="field-even">SymPy</dt>
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<dd class="field-even"><p>not supported</p>
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&#169; Copyright 2020, Peter Corke.
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Last updated on 15-Feb-2021.
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Last updated on 24-Feb-2021.
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