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‎2d_orient_SO2.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2039,7 +2039,7 @@ <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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‎2d_pose_SE2.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2130,7 +2130,7 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-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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‎2d_pose_twist.html

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+3-3Lines changed: 3 additions & 3 deletions
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@@ -926,9 +926,9 @@ <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>
927927
<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>
929-
<span class="go">Twist3([-0.25799, 1.4373, 1.2949, -1.9884, -1.5857, 1.3117])</span>
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<span class="go">Twist3([-0.7611, -0.96638, 0.30796, -0.80364, 1.1506, -0.42046])</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>
931-
<span class="go">Twist3([0.25799, -1.4373, -1.2949, 1.9884, 1.5857, -1.3117])</span>
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<span class="go">Twist3([0.7611, 0.96638, -0.30796, 0.80364, -1.1506, 0.42046])</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>
@@ -1086,7 +1086,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
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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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‎3d_dualquaternion.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -446,7 +446,7 @@ <h1>Dual Quaternion<a class="headerlink" href="#dual-quaternion" title="Permalin
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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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‎3d_orient_SO3.html

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+4-4Lines changed: 4 additions & 4 deletions
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@@ -620,9 +620,9 @@ <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>
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<span class="go">SO3(array([[ 0.8107, 0.5424, 0.2205],</span>
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<span class="go"> [ 0.5191, -0.84 , 0.1578],</span>
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<span class="go"> [ 0.2708, -0.0135, -0.9625]]))</span>
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<span class="go">SO3(array([[ 0.2421, -0.4386, -0.8654],</span>
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<span class="go"> [-0.9136, 0.1972, -0.3556],</span>
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<span class="go"> [ 0.3266, 0.8768, -0.353 ]]))</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -2484,7 +2484,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
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<p>
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&#169; Copyright 2020, Peter Corke.
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‎3d_orient_unitquaternion.html

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@@ -516,11 +516,11 @@ <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"> 0.1385 &lt;&lt; -0.2041, -0.9479, 0.2016 &gt;&gt;</span>
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<span class="go">-0.4730 &lt;&lt; 0.7791, 0.4109, -0.0229 &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">-0.3658 &lt;&lt; 0.7765, -0.4055, -0.3144 &gt;&gt;</span>
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<span class="go"> 0.1953 &lt;&lt; 0.3185, -0.8165, 0.4402 &gt;&gt;</span>
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<span class="go"> 0.0500 &lt;&lt; 0.5346, -0.7424, -0.4006 &gt;&gt;</span>
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<span class="go"> 0.1959 &lt;&lt; 0.5143, 0.0016, 0.8349 &gt;&gt;</span>
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<span class="go">-0.0130 &lt;&lt; 0.1802, -0.6460, 0.7416 &gt;&gt;</span>
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<span class="go">-0.0930 &lt;&lt; 0.1317, -0.3802, -0.9108 &gt;&gt;</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -2334,7 +2334,7 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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<p>
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</p>

‎3d_plane.html

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<p>
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&#169; Copyright 2020, Peter Corke.
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</span>
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‎3d_plucker.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -408,7 +408,7 @@
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<p>
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&#169; Copyright 2020, Peter Corke.
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</span>
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</p>

‎3d_pose_SE3.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -2752,7 +2752,7 @@ <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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</p>

‎3d_pose_dualquaternion.html

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+6-6Lines changed: 6 additions & 6 deletions
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@@ -239,18 +239,18 @@ <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>
242-
<span class="go"> -0.117949 -0.566225 -0.815768 0.783519 </span>
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<span class="go"> -0.813521 0.52619 -0.247605 0.614303 </span>
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<span class="go"> 0.569449 0.634439 -0.522699 0.1525 </span>
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<span class="go"> 0.121394 0.957353 -0.262179 -0.720624 </span>
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<span class="go"> -0.930825 0.0180666 -0.365019 -0.0387816 </span>
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<span class="go"> -0.344716 0.288354 0.893321 -0.382382 </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>
249-
<span class="go"> 0.4705 &lt;&lt; 0.4687, -0.7360, -0.1314 &gt;&gt; + ε 0.0525 &lt; 0.2001, 0.2317, -0.3964 &gt;</span>
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<span class="go"> 0.7129 &lt;&lt; 0.2291, 0.0289, -0.6622 &gt;&gt; + ε -0.0435 &lt; -0.2385, -0.2962, -0.1423 &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>
253-
<span class="go">(1.0, 4.562530187486071e-09)</span>
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<span class="go">(1.0, 6.452392069879462e-09)</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
@@ -474,7 +474,7 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
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<p>
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&#169; Copyright 2020, Peter Corke.
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‎3d_pose_twist.html

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+5-5Lines changed: 5 additions & 5 deletions
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@@ -549,8 +549,8 @@ <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"> [0.72806, -0.58143, 0.89073, 1.5148, 0.092975, -0.15446],</span>
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<span class="go"> [0.9188, -0.2074, -0.50732, -1.6423, -1.434, 0.026176]</span>
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<span class="go"> [1.5889, 0.35375, -0.42391, 1.1684, -1.7936, -1.3271],</span>
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<span class="go"> [-0.91271, 0.28043, 0.047489, -2.028, 0.65233, -0.44597]</span>
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<span class="go">])</span>
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</pre></div>
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</div>
@@ -1222,9 +1222,9 @@ <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([-0.91163, 0.15917, 0.43615, 1.3301, -0.083231, 0.89891])</span>
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<span class="go">Twist3([-0.26093, -0.54405, 0.9849, -0.32636, -1.5459, -1.319])</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([0.91163, -0.15917, -0.43615, -1.3301, 0.083231, -0.89891])</span>
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<span class="go">Twist3([0.26093, 0.54405, -0.9849, 0.32636, 1.5459, 1.319])</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>
@@ -1404,7 +1404,7 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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<p>
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&#169; Copyright 2020, Peter Corke.
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‎3d_quaternion.html

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&#169; Copyright 2020, Peter Corke.
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‎6d_acceleration.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -585,7 +585,7 @@ <h1>Spatial acceleration<a class="headerlink" href="#spatial-acceleration" title
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<p>
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‎6d_f6.html

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+1-1Lines changed: 1 addition & 1 deletion
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<p>
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&#169; Copyright 2020, Peter Corke.
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‎6d_force.html

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+1-1Lines changed: 1 addition & 1 deletion
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@@ -560,7 +560,7 @@ <h1>Spatial force<a class="headerlink" href="#spatial-force" title="Permalink to
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<p>
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‎6d_inertia.html

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<p>
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&#169; Copyright 2020, Peter Corke.
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‎6d_m6.html

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+1-1Lines changed: 1 addition & 1 deletion
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<p>
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&#169; Copyright 2020, Peter Corke.
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‎6d_momentum.html

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<p>
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‎6d_spatial.html

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<p>
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‎6d_velocity.html

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<p>
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&#169; Copyright 2020, Peter Corke.
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‎_modules/collections.html

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‎_modules/index.html

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&#169; Copyright 2020, Peter Corke.
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‎_modules/spatialmath/DualQuaternion.html

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‎_modules/spatialmath/base/animate.html

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‎_modules/spatialmath/base/argcheck.html

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‎_modules/spatialmath/base/quaternions.html

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‎_modules/spatialmath/base/symbolic.html

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‎_modules/spatialmath/base/transforms2d.html

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‎_modules/spatialmath/base/transforms3d.html

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<span class="c1"># create unit vectors in homogeneous form</span>
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<span class="n">o</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
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<span class="n">x</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span> <span class="o">*</span> <span class="n">length</span>
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<span class="n">y</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span> <span class="o">*</span> <span class="n">length</span>
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<span class="n">z</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span> <span class="o">*</span> <span class="n">length</span>
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<span class="n">x</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">length</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
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<span class="n">y</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="n">length</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
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<span class="n">z</span> <span class="o">=</span> <span class="n">T</span> <span class="o">@</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">length</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
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<span class="c1"># draw the axes</span>
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