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‎2d_pose_twist.html

Copy file name to clipboardExpand all lines: 2d_pose_twist.html
+2-2Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -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>
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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>
929-
<span class="go">Twist3([0.2773, 0.25837, 0.87296, -0.38179, 0.7732, -2.8382])</span>
929+
<span class="go">Twist3([-0.51257, 1.0541, 0.20409, 0.6727, 0.83002, -2.3688])</span>
930930
<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([-0.2773, -0.25837, -0.87296, 0.38179, -0.7732, 2.8382])</span>
931+
<span class="go">Twist3([0.51257, -1.0541, -0.20409, -0.6727, -0.83002, 2.3688])</span>
932932
<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>
933933
<span class="go">Twist3([0, 0, 0, 0, 0, 0])</span>
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</pre></div>

‎3d_orient_SO3.html

Copy file name to clipboardExpand all lines: 3d_orient_SO3.html
+3-3Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -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>
622622
<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
623-
<span class="go">SO3(array([[ 0.0678, 0.3295, 0.9417],</span>
624-
<span class="go"> [-0.6072, -0.7353, 0.301 ],</span>
625-
<span class="go"> [ 0.7916, -0.5922, 0.1502]]))</span>
623+
<span class="go">SO3(array([[-0.2199, -0.7259, -0.6517],</span>
624+
<span class="go"> [-0.3887, -0.5476, 0.741 ],</span>
625+
<span class="go"> [-0.8947, 0.4163, -0.1618]]))</span>
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</pre></div>
627627
</div>
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<dl class="field-list simple">

‎3d_orient_unitquaternion.html

Copy file name to clipboardExpand all lines: 3d_orient_unitquaternion.html
+4-4Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -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>
518518
<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>
519-
<span class="go"> 0.5126 &lt;&lt; -0.1476, -0.0361, 0.8451 &gt;&gt;</span>
519+
<span class="go">-0.0221 &lt;&lt; 0.7889, -0.1251, 0.6012 &gt;&gt;</span>
520520
<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>
521-
<span class="go"> 0.0967 &lt;&lt; 0.3976, -0.8349, 0.3681 &gt;&gt;</span>
522-
<span class="go"> 0.5257 &lt;&lt; 0.7843, 0.2259, 0.2397 &gt;&gt;</span>
523-
<span class="go">-0.0486 &lt;&lt; 0.4172, 0.8206, -0.3876 &gt;&gt;</span>
521+
<span class="go"> 0.0682 &lt;&lt; -0.9278, -0.3201, 0.1789 &gt;&gt;</span>
522+
<span class="go"> 0.9334 &lt;&lt; 0.3358, 0.0188, -0.1248 &gt;&gt;</span>
523+
<span class="go">-0.0874 &lt;&lt; -0.6511, 0.2459, -0.7127 &gt;&gt;</span>
524524
</pre></div>
525525
</div>
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<dl class="field-list simple">

‎3d_pose_dualquaternion.html

Copy file name to clipboardExpand all lines: 3d_pose_dualquaternion.html
+5-5Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -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>
240240
<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"> 0.28871 0.910851 -0.294953 0.222287 </span>
243-
<span class="go"> -0.701765 -0.0082412 -0.712361 0.236183 </span>
244-
<span class="go"> -0.651285 0.412654 0.636824 0.768904 </span>
242+
<span class="go"> -0.627114 -0.777957 -0.0388654 -0.567214 </span>
243+
<span class="go"> -0.662028 0.558626 -0.499656 0.329706 </span>
244+
<span class="go"> 0.410422 -0.287611 -0.865352 -0.761391 </span>
245245
<span class="go"> 0 0 0 1 </span>
246246

247247
<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>
248248
<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"> 0.6923 &lt;&lt; 0.4062, 0.1287, -0.5823 &gt;&gt; + ε 0.1635 &lt; -0.0413, 0.3027, 0.2325 &gt;</span>
249+
<span class="go"> 0.1286 &lt;&lt; 0.4122, -0.8734, 0.2254 &gt;&gt; + ε 0.3467 &lt; -0.3318, -0.0718, 0.1308 &gt;</span>
250250
<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>
251251
<span class="go">&lt;class &#39;spatialmath.DualQuaternion.UnitDualQuaternion&#39;&gt;</span>
252252
<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, -1.3877787807814457e-17)</span>
253+
<span class="go">(1.0, 1.3877787807814457e-17)</span>
254254
</pre></div>
255255
</div>
256256
<p>The dual number is stored internally as two quaternion, respectively

‎3d_pose_twist.html

Copy file name to clipboardExpand all lines: 3d_pose_twist.html
+4-4Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -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>
550550
<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>
551551
<span class="go">Twist3([</span>
552-
<span class="go"> [0.27196, 0.32652, -0.84806, -0.99537, 2.4439, -0.57127],</span>
553-
<span class="go"> [1.221, 0.44028, 1.4416, 1.1993, 1.6877, -1.7422]</span>
552+
<span class="go"> [0.19964, 1.2103, 1.2648, 1.4083, 1.5946, -2.1125],</span>
553+
<span class="go"> [0.36965, -0.81161, 0.53676, 1.3872, 0.64446, 0.32987]</span>
554554
<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
12221222
<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>
12231223
<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>
12241224
<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
1225-
<span class="go">Twist3([-0.75189, 0.81042, 0.47172, 0.37923, -2.5155, 0.68879])</span>
1225+
<span class="go">Twist3([0.84375, -0.73287, -0.60195, -1.9143, 0.71541, 0.31247])</span>
12261226
<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>
1227-
<span class="go">Twist3([0.75189, -0.81042, -0.47172, -0.37923, 2.5155, -0.68879])</span>
1227+
<span class="go">Twist3([-0.84375, 0.73287, 0.60195, 1.9143, -0.71541, -0.31247])</span>
12281228
<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>
12291229
<span class="go">Twist3([0, 0, 0, 0, 0, 0])</span>
12301230
</pre></div>

‎func_quat.html

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+2-2Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -821,7 +821,7 @@
821821
considered equivalent to a random SO(3) rotation.</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.base</span> <span class="kn">import</span> <span class="n">rand</span><span class="p">,</span> <span class="n">qprint</span>
823823
<span class="gp">&gt;&gt;&gt; </span><span class="n">qprint</span><span class="p">(</span><span class="n">rand</span><span class="p">())</span>
824-
<span class="go">-0.4887 &lt; -0.8116, 0.2431, -0.2083 &gt;</span>
824+
<span class="go">-0.1896 &lt; 0.4568, 0.8209, -0.2855 &gt;</span>
825825
</pre></div>
826826
</div>
827827
</dd></dl>
@@ -1012,7 +1012,7 @@
10121012
<span class="go"> 1.0000 &lt; 2.0000, 3.0000, 4.0000 &gt;</span>
10131013
<span class="gp">&gt;&gt;&gt; </span><span class="n">q</span> <span class="o">=</span> <span class="n">rand</span><span class="p">()</span> <span class="c1"># a unit quaternion</span>
10141014
<span class="gp">&gt;&gt;&gt; </span><span class="n">qprint</span><span class="p">(</span><span class="n">q</span><span class="p">,</span> <span class="n">delim</span><span class="o">=</span><span class="p">(</span><span class="s1">&#39;&lt;&lt;&#39;</span><span class="p">,</span> <span class="s1">&#39;&gt;&gt;&#39;</span><span class="p">))</span>
1015-
<span class="go">-0.0090 &lt;&lt; -0.1568, 0.2197, -0.9628 &gt;&gt;</span>
1015+
<span class="go"> 0.6783 &lt;&lt; 0.7299, -0.0230, 0.0819 &gt;&gt;</span>
10161016
</pre></div>
10171017
</div>
10181018
</dd></dl>

‎intro.html

Copy file name to clipboardExpand all lines: intro.html
+1-1Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -524,7 +524,7 @@ <h3>Displaying values<a class="headerlink" href="#displaying-values" title="Perm
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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="o">*</span>
525525
<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">Rand</span><span class="p">()</span>
526526
<span class="gp">&gt;&gt;&gt; </span><span class="n">_</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">printline</span><span class="p">()</span>
527-
<span class="go">t = -0.13, 0.39, 0.58; rpy/zyx = -30°, -27°, -1.2e+02°</span>
527+
<span class="go">t = 0.88, 0.38, 0.48; rpy/zyx = 12°, 23°, -83°</span>
528528
</pre></div>
529529
</div>
530530
<p>The classes <code class="docutils literal notranslate"><span class="pre">SE3</span></code>, <code class="docutils literal notranslate"><span class="pre">SO3</span></code>, <code class="docutils literal notranslate"><span class="pre">SE2</span></code> and <code class="docutils literal notranslate"><span class="pre">SO2</span></code> can provide colorized text output to the console:</p>

‎searchindex.js

Copy file name to clipboardExpand all lines: searchindex.js
+1-1Lines changed: 1 addition & 1 deletion
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