Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly
Appearance settings

Commit e33c642

Browse filesBrowse files
actions-useractions-user
committed
Update documentation
1 parent 4024302 commit e33c642
Copy full SHA for e33c642

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.
Dismiss banner
Expand file treeCollapse file tree

64 files changed

+1682
-95
lines changed

‎2d_orient_SO2.html

Copy file name to clipboardExpand all lines: 2d_orient_SO2.html
+1-1Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2041,7 +2041,7 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
20412041

20422042
&copy; Copyright 2020, Peter Corke
20432043
<span class="lastupdated">
2044-
Last updated on 30-Dec-2020.
2044+
Last updated on 31-Dec-2020.
20452045
</span>
20462046

20472047
</p>

‎2d_pose_SE2.html

Copy file name to clipboardExpand all lines: 2d_pose_SE2.html
+1-1Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2132,7 +2132,7 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
21322132

21332133
&copy; Copyright 2020, Peter Corke
21342134
<span class="lastupdated">
2135-
Last updated on 30-Dec-2020.
2135+
Last updated on 31-Dec-2020.
21362136
</span>
21372137

21382138
</p>

‎2d_pose_twist.html

Copy file name to clipboardExpand all lines: 2d_pose_twist.html
+3-3Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -921,9 +921,9 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
921921
<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([-0.79819, 0.38262, -0.29488, -1.2846, 0.17758, 0.59572])</span>
924+
<span class="go">Twist3([-0.48302, 0.13436, 0.38551, -0.22288, -0.94541, 1.4026])</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([0.79819, -0.38262, 0.29488, 1.2846, -0.17758, -0.59572])</span>
926+
<span class="go">Twist3([0.48302, -0.13436, -0.38551, 0.22288, 0.94541, -1.4026])</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>
928928
<span class="go">Twist3([0, 0, 0, 0, 0, 0])</span>
929929
</pre></div>
@@ -1088,7 +1088,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
10881088

10891089
&copy; Copyright 2020, Peter Corke
10901090
<span class="lastupdated">
1091-
Last updated on 30-Dec-2020.
1091+
Last updated on 31-Dec-2020.
10921092
</span>
10931093

10941094
</p>

‎3d_dualquaternion.html

Copy file name to clipboardExpand all lines: 3d_dualquaternion.html
+481Lines changed: 481 additions & 0 deletions
Large diffs are not rendered by default.

‎3d_orient_SO3.html

Copy file name to clipboardExpand all lines: 3d_orient_SO3.html
+7-7Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,7 @@
4242
<link rel="index" title="Index" href="genindex.html" />
4343
<link rel="search" title="Search" href="search.html" />
4444
<link rel="next" title="Unit quaternion" href="3d_orient_unitquaternion.html" />
45-
<link rel="prev" title="se(3) twist" href="3d_pose_twist.html" />
45+
<link rel="prev" title="Unit dual quaternion" href="3d_pose_dualquaternion.html" />
4646
</head>
4747

4848
<body class="wy-body-for-nav">
@@ -180,7 +180,7 @@
180180
<a href="3d_orient_unitquaternion.html" class="btn btn-neutral float-right" title="Unit quaternion" accesskey="n">Next <span class="fa fa-arrow-circle-right"></span></a>
181181

182182

183-
<a href="3d_pose_twist.html" class="btn btn-neutral float-left" title="se(3) twist" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
183+
<a href="3d_pose_dualquaternion.html" class="btn btn-neutral float-left" title="Unit dual quaternion" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
184184

185185
</div>
186186

@@ -615,9 +615,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
615615
<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>
616616
<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>
617617
<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
618-
<span class="go">SO3(array([[-0.7877, -0.6113, -0.0757],</span>
619-
<span class="go"> [ 0.2913, -0.2614, -0.9202],</span>
620-
<span class="go"> [ 0.5428, -0.7469, 0.384 ]]))</span>
618+
<span class="go">SO3(array([[ 0.0566, -0.9025, -0.4269],</span>
619+
<span class="go"> [ 0.8724, -0.1633, 0.4608],</span>
620+
<span class="go"> [-0.4856, -0.3985, 0.7781]]))</span>
621621
</pre></div>
622622
</div>
623623
<dl class="field-list simple">
@@ -2474,7 +2474,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
24742474
<a href="3d_orient_unitquaternion.html" class="btn btn-neutral float-right" title="Unit quaternion" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
24752475

24762476

2477-
<a href="3d_pose_twist.html" class="btn btn-neutral float-left" title="se(3) twist" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
2477+
<a href="3d_pose_dualquaternion.html" class="btn btn-neutral float-left" title="Unit dual quaternion" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
24782478

24792479
</div>
24802480

@@ -2486,7 +2486,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
24862486

24872487
&copy; Copyright 2020, Peter Corke
24882488
<span class="lastupdated">
2489-
Last updated on 30-Dec-2020.
2489+
Last updated on 31-Dec-2020.
24902490
</span>
24912491

24922492
</p>

‎3d_orient_unitquaternion.html

Copy file name to clipboardExpand all lines: 3d_orient_unitquaternion.html
+5-5Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -514,11 +514,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
514514
<p>Example:</p>
515515
<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>
516516
<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>
517-
<span class="go"> 0.5026 &lt;&lt; 0.6949, 0.2786, 0.4323 &gt;&gt;</span>
517+
<span class="go"> 0.0255 &lt;&lt; 0.0515, -0.4208, 0.9053 &gt;&gt;</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><span class="mi">3</span><span class="p">))</span>
519-
<span class="go">-0.3938 &lt;&lt; 0.4214, 0.7044, -0.4137 &gt;&gt;</span>
520-
<span class="go">-0.2749 &lt;&lt; 0.4270, -0.5420, -0.6695 &gt;&gt;</span>
521-
<span class="go"> 0.0751 &lt;&lt; 0.1557, 0.0220, 0.9847 &gt;&gt;</span>
519+
<span class="go"> 0.1203 &lt;&lt; 0.4422, 0.3787, -0.8041 &gt;&gt;</span>
520+
<span class="go"> 0.1544 &lt;&lt; -0.7467, -0.6043, -0.2312 &gt;&gt;</span>
521+
<span class="go"> 0.4421 &lt;&lt; 0.8361, -0.0176, 0.3242 &gt;&gt;</span>
522522
</pre></div>
523523
</div>
524524
<dl class="field-list simple">
@@ -2318,7 +2318,7 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
23182318

23192319
&copy; Copyright 2020, Peter Corke
23202320
<span class="lastupdated">
2321-
Last updated on 30-Dec-2020.
2321+
Last updated on 31-Dec-2020.
23222322
</span>
23232323

23242324
</p>

‎3d_plane.html

Copy file name to clipboardExpand all lines: 3d_plane.html
+2-1Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -103,6 +103,7 @@
103103
<li class="toctree-l3"><a class="reference internal" href="spatialmath.html#d-spatial-vectors">6D spatial vectors</a></li>
104104
<li class="toctree-l3 current"><a class="reference internal" href="spatialmath.html#geometry">Geometry</a><ul class="current">
105105
<li class="toctree-l4"><a class="reference internal" href="3d_quaternion.html">Quaternion</a></li>
106+
<li class="toctree-l4"><a class="reference internal" href="3d_dualquaternion.html">Dual Quaternion</a></li>
106107
<li class="toctree-l4"><a class="reference internal" href="3d_plucker.html">Plucker line</a></li>
107108
<li class="toctree-l4 current"><a class="current reference internal" href="#">Plane</a></li>
108109
</ul>
@@ -266,7 +267,7 @@
266267

267268
&copy; Copyright 2020, Peter Corke
268269
<span class="lastupdated">
269-
Last updated on 30-Dec-2020.
270+
Last updated on 31-Dec-2020.
270271
</span>
271272

272273
</p>

‎3d_plucker.html

Copy file name to clipboardExpand all lines: 3d_plucker.html
+5-4Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,7 @@
4242
<link rel="index" title="Index" href="genindex.html" />
4343
<link rel="search" title="Search" href="search.html" />
4444
<link rel="next" title="Plane" href="3d_plane.html" />
45-
<link rel="prev" title="Quaternion" href="3d_quaternion.html" />
45+
<link rel="prev" title="Dual Quaternion" href="3d_dualquaternion.html" />
4646
</head>
4747

4848
<body class="wy-body-for-nav">
@@ -103,6 +103,7 @@
103103
<li class="toctree-l3"><a class="reference internal" href="spatialmath.html#d-spatial-vectors">6D spatial vectors</a></li>
104104
<li class="toctree-l3 current"><a class="reference internal" href="spatialmath.html#geometry">Geometry</a><ul class="current">
105105
<li class="toctree-l4"><a class="reference internal" href="3d_quaternion.html">Quaternion</a></li>
106+
<li class="toctree-l4"><a class="reference internal" href="3d_dualquaternion.html">Dual Quaternion</a></li>
106107
<li class="toctree-l4 current"><a class="current reference internal" href="#">Plucker line</a></li>
107108
<li class="toctree-l4"><a class="reference internal" href="3d_plane.html">Plane</a></li>
108109
</ul>
@@ -181,7 +182,7 @@
181182
<a href="3d_plane.html" class="btn btn-neutral float-right" title="Plane" accesskey="n">Next <span class="fa fa-arrow-circle-right"></span></a>
182183

183184

184-
<a href="3d_quaternion.html" class="btn btn-neutral float-left" title="Quaternion" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
185+
<a href="3d_dualquaternion.html" class="btn btn-neutral float-left" title="Dual Quaternion" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
185186

186187
</div>
187188

@@ -397,7 +398,7 @@
397398
<a href="3d_plane.html" class="btn btn-neutral float-right" title="Plane" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
398399

399400

400-
<a href="3d_quaternion.html" class="btn btn-neutral float-left" title="Quaternion" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
401+
<a href="3d_dualquaternion.html" class="btn btn-neutral float-left" title="Dual Quaternion" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
401402

402403
</div>
403404

@@ -409,7 +410,7 @@
409410

410411
&copy; Copyright 2020, Peter Corke
411412
<span class="lastupdated">
412-
Last updated on 30-Dec-2020.
413+
Last updated on 31-Dec-2020.
413414
</span>
414415

415416
</p>

‎3d_pose_SE3.html

Copy file name to clipboardExpand all lines: 3d_pose_SE3.html
+2-1Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -101,6 +101,7 @@
101101
<li class="toctree-l3 current"><a class="reference internal" href="spatialmath.html#pose-in-3d">Pose in 3D</a><ul class="current">
102102
<li class="toctree-l4 current"><a class="current reference internal" href="#">SE(3) matrix</a></li>
103103
<li class="toctree-l4"><a class="reference internal" href="3d_pose_twist.html">se(3) twist</a></li>
104+
<li class="toctree-l4"><a class="reference internal" href="3d_pose_dualquaternion.html">Unit dual quaternion</a></li>
104105
</ul>
105106
</li>
106107
<li class="toctree-l3"><a class="reference internal" href="spatialmath.html#orientation-in-3d">Orientation in 3D</a></li>
@@ -2748,7 +2749,7 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
27482749

27492750
&copy; Copyright 2020, Peter Corke
27502751
<span class="lastupdated">
2751-
Last updated on 30-Dec-2020.
2752+
Last updated on 31-Dec-2020.
27522753
</span>
27532754

27542755
</p>

0 commit comments

Comments
0 (0)
Morty Proxy This is a proxified and sanitized view of the page, visit original site.