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‎2d_orient_SO2.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2041,7 +2041,7 @@ <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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‎2d_pose_SE2.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2132,7 +2132,7 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
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&copy; Copyright 2020, Peter Corke
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‎2d_pose_twist.html

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+3-3Lines changed: 3 additions & 3 deletions
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@@ -921,9 +921,9 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
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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>
922922
<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>
923923
<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
924-
<span class="go">Twist3([-0.43739, -0.050401, -0.68279, -1.0367, 0.027051, -1.057])</span>
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<span class="go">Twist3([0.32316, -0.065822, 0.94507, -0.042546, -3.0236, 0.41044])</span>
925925
<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>
926-
<span class="go">Twist3([0.43739, 0.050401, 0.68279, 1.0367, -0.027051, 1.057])</span>
926+
<span class="go">Twist3([-0.32316, 0.065822, -0.94507, 0.042546, 3.0236, -0.41044])</span>
927927
<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>
@@ -1088,7 +1088,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
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&copy; Copyright 2020, Peter Corke
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‎3d_dualquaternion.html

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@@ -448,7 +448,7 @@ <h1>Dual Quaternion<a class="headerlink" href="#dual-quaternion" title="Permalin
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‎3d_orient_SO3.html

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@@ -615,9 +615,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
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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="gp">&gt;&gt;&gt; </span><span class="n">x</span>
618-
<span class="go">SO3(array([[-0.0946, 0.5338, 0.8403],</span>
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<span class="go"> [-0.1255, 0.831 , -0.542 ],</span>
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<span class="go"> [-0.9876, -0.1567, -0.0116]]))</span>
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<span class="go">SO3(array([[-0.9005, 0.2659, 0.3442],</span>
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<span class="go"> [ 0.2547, 0.9638, -0.0781],</span>
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<span class="go"> [-0.3525, 0.0173, -0.9356]]))</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -2486,7 +2486,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
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‎3d_orient_unitquaternion.html

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@@ -511,11 +511,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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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="go">-0.5705 &lt;&lt; -0.0945, -0.7807, 0.2368 &gt;&gt;</span>
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<span class="go"> 0.5608 &lt;&lt; 0.4375, 0.4532, 0.5373 &gt;&gt;</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">-0.8404 &lt;&lt; 0.4360, -0.1364, -0.2916 &gt;&gt;</span>
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<span class="go">-0.1425 &lt;&lt; 0.5131, 0.8425, -0.0811 &gt;&gt;</span>
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<span class="go"> 0.0057 &lt;&lt; 0.0507, 0.1035, 0.9933 &gt;&gt;</span>
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<span class="go">-0.0704 &lt;&lt; -0.9542, 0.0635, 0.2839 &gt;&gt;</span>
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<span class="go">-0.0850 &lt;&lt; 0.6804, 0.2076, -0.6976 &gt;&gt;</span>
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<span class="go">-0.3736 &lt;&lt; -0.0153, 0.8428, -0.3872 &gt;&gt;</span>
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</pre></div>
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<dl class="field-list simple">
@@ -2336,7 +2336,7 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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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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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2749,7 +2749,7 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
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&copy; Copyright 2020, Peter Corke
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‎3d_pose_dualquaternion.html

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+6-6Lines changed: 6 additions & 6 deletions
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@@ -234,18 +234,18 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
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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">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</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="nb">print</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
237-
<span class="go"> -0.867574 -0.372685 -0.329274 -0.626879 </span>
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<span class="go"> 0.0487171 0.595237 -0.802072 -0.86566 </span>
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<span class="go"> 0.494917 -0.711898 -0.498256 -0.910651 </span>
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<span class="go"> -0.27357 0.464471 -0.842274 -0.809608 </span>
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<span class="go"> 0.785339 0.613448 0.0832079 -0.335878 </span>
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<span class="go"> 0.55534 -0.638708 -0.532589 0.369432 </span>
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<span class="go"> 0 0 0 1 </span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">d</span> <span class="o">=</span> <span class="n">UnitDualQuaternion</span><span class="p">(</span><span class="n">T</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">d</span><span class="p">)</span>
244-
<span class="go"> 0.2395 &lt;&lt; 0.0941, -0.8604, 0.4399 &gt;&gt; + ε -0.1426 &lt; -0.6572, -0.0086, 0.2014 &gt;</span>
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<span class="go"> 0.4492 &lt;&lt; -0.4017, -0.7778, 0.1786 &gt;&gt; + ε -0.3262 &lt; -0.0682, -0.0774, 0.3304 &gt;</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
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<span class="go">&lt;class &#39;spatialmath.DualQuaternion.UnitDualQuaternion&#39;&gt;</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="o">.</span><span class="n">norm</span><span class="p">())</span> <span class="c1"># norm is (1, 0)</span>
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<span class="go">(1.0, 2.7755575615628914e-17)</span>
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<span class="go">(1.0, 0.0)</span>
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</pre></div>
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</div>
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<p>The dual number is stored internally as two quaternion, respectively
@@ -476,7 +476,7 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
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‎3d_pose_twist.html

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@@ -544,8 +544,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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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">Twist3</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>
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<span class="go">Twist3([</span>
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<span class="go"> [0.26557, 0.50754, 0.67517, 2.4898, 0.79664, -0.99137],</span>
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<span class="go"> [-0.19079, 0.99926, -0.14607, -0.32292, 0.68382, 0.14624]</span>
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<span class="go"> [0.64387, -0.69368, -0.27532, -0.82605, -0.22599, -1.2305],</span>
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<span class="go"> [1.3272, 0.38035, -0.28083, -0.63673, 1.1166, -0.49014]</span>
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<span class="go">])</span>
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</pre></div>
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@@ -1217,9 +1217,9 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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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([-0.71041, -0.25937, 0.3459, -1.4345, -1.6576, 1.7236])</span>
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<span class="go">Twist3([0.48272, 0.30115, 0.070986, -2.7438, 0.63488, 0.23236])</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([0.71041, 0.25937, -0.3459, 1.4345, 1.6576, -1.7236])</span>
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<span class="go">Twist3([-0.48272, -0.30115, -0.070986, 2.7438, -0.63488, -0.23236])</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_quaternion.html

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‎6d_acceleration.html

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‎6d_f6.html

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‎6d_force.html

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‎6d_inertia.html

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‎6d_m6.html

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‎6d_momentum.html

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‎6d_spatial.html

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‎6d_velocity.html

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‎_modules/collections.html

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‎_modules/index.html

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‎_modules/spatialmath/DualQuaternion.html

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