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‎2d_orient_SO2.html

Copy file name to clipboardExpand all lines: 2d_orient_SO2.html
+1-1Lines changed: 1 addition & 1 deletion
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@@ -2113,7 +2113,7 @@ <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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Last updated on 18-Apr-2021.
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</p>

‎2d_pose_SE2.html

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+63-1Lines changed: 63 additions & 1 deletion
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@@ -335,6 +335,68 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="spatialmath.pose2d.SE2.Tx">
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Tx</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SE2.Tx"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SE2.Tx" title="Permalink to this definition"></a></dt>
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<dd><p>Create an SE(2) translation along the X-axis</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>x</strong> (<em>float</em>) – translation distance along the X-axis</p>
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</dd>
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<dt class="field-even">Returns</dt>
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<dd class="field-even"><p>SE(2) matrix</p>
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</dd>
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<dt class="field-odd">Return type</dt>
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<dd class="field-odd"><p>SE2 instance</p>
351+
</dd>
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</dl>
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<p><cite>SE2.Tx(x)</cite> is an SE(2) translation of <code class="docutils literal notranslate"><span class="pre">x</span></code> along the x-axis</p>
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<p>Example:</p>
355+
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File &quot;&lt;input&gt;&quot;, line 1, in &lt;module&gt;</span>
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<span class="go">NameError: name &#39;SE2&#39; is not defined</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
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<dt class="field-odd">Seealso</dt>
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<dd class="field-odd"><p><a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.transl" title="spatialmath.base.transforms3d.transl"><code class="xref py py-func docutils literal notranslate"><span class="pre">transl()</span></code></a></p>
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</dd>
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<dt class="field-even">SymPy</dt>
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<dd class="field-even"><p>supported</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="spatialmath.pose2d.SE2.Ty">
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<em class="property"><span class="pre">classmethod</span> </em><code class="sig-name descname"><span class="pre">Ty</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">y</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/pose2d.html#SE2.Ty"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.pose2d.SE2.Ty" title="Permalink to this definition"></a></dt>
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<dd><p>Create an SE(2) translation along the Y-axis</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameters</dt>
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<dd class="field-odd"><p><strong>y</strong> (<em>float</em>) – translation distance along the Y-axis</p>
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</dd>
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<dt class="field-even">Returns</dt>
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<dd class="field-even"><p>SE(2) matrix</p>
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</dd>
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<dt class="field-odd">Return type</dt>
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<dd class="field-odd"><p>SE2 instance</p>
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</dd>
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</dl>
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<p><cite>SE2.Ty(y) is an SE(2) translation of ``y`</cite> along the y-axis</p>
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<p>Example:</p>
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File &quot;&lt;input&gt;&quot;, line 1, in &lt;module&gt;</span>
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<span class="go">NameError: name &#39;SE2&#39; is not defined</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
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<dt class="field-odd">Seealso</dt>
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<dd class="field-odd"><p><a class="reference internal" href="func_3d.html#spatialmath.base.transforms3d.transl" title="spatialmath.base.transforms3d.transl"><code class="xref py py-func docutils literal notranslate"><span class="pre">transl()</span></code></a></p>
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</dd>
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<dt class="field-even">SymPy</dt>
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<dd class="field-even"><p>supported</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="spatialmath.pose2d.SE2.A">
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<em class="property"><span class="pre">property</span> </em><code class="sig-name descname"><span class="pre">A</span></code><a class="headerlink" href="#spatialmath.pose2d.SE2.A" title="Permalink to this definition"></a></dt>
@@ -2204,7 +2266,7 @@ <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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</span>
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</p>

‎2d_pose_twist.html

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+3-3Lines changed: 3 additions & 3 deletions
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@@ -950,9 +950,9 @@ <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>
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<span class="go">Twist3([-0.27873, -0.42296, -0.87397, -2.5316, -0.5611, -1.4964])</span>
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<span class="go">Twist3([0.85501, -0.48128, 0.67693, 0.99779, 2.0915, -0.27756])</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([0.27873, 0.42296, 0.87397, 2.5316, 0.5611, 1.4964])</span>
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<span class="go">Twist3([-0.85501, 0.48128, -0.67693, -0.99779, -2.0915, 0.27756])</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>
@@ -1124,7 +1124,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
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<p>
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‎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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Last updated on 18-Apr-2021.
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</span>
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</p>

‎3d_orient_SO3.html

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+6-6Lines changed: 6 additions & 6 deletions
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@@ -620,9 +620,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
620620
<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>
623-
<span class="go">SO3(array([[ 0.2558, 0.1911, -0.9476],</span>
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<span class="go"> [-0.9555, -0.0992, -0.2779],</span>
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<span class="go"> [-0.1471, 0.9765, 0.1572]]))</span>
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<span class="go">SO3(array([[ 0.3878, 0.012 , 0.9217],</span>
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<span class="go"> [-0.9095, -0.1575, 0.3847],</span>
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<span class="go"> [ 0.1498, -0.9875, -0.0501]]))</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -662,7 +662,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
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<p>Example:</p>
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/pose3d.py&quot;, line 451, in &lt;listcomp&gt;</span>
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<span class="go"> return cls([base.eul2r(a, unit=unit) for a in angles], check=False)</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 532, in eul2r</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 536, in eul2r</span>
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<span class="go"> return rotz(angles[0]) @ roty(angles[1]) @ rotz(angles[2])</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 91, in roty</span>
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<span class="go"> ct = base.sym.cos(theta)</span>
@@ -728,7 +728,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
728728
<p>Example:</p>
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/pose3d.py&quot;, line 509, in &lt;listcomp&gt;</span>
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<span class="go"> return cls([base.rpy2r(a, unit=unit, order=order) for a in angles], check=False)</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 429, in rpy2r</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 433, in rpy2r</span>
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<span class="go"> R = rotz(angles[2]) @ roty(angles[1]) @ rotx(angles[0])</span>
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<span class="go"> File &quot;/opt/hostedtoolcache/Python/3.7.10/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py&quot;, line 126, in rotz</span>
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<span class="go"> ct = base.sym.cos(theta)</span>
@@ -2678,7 +2678,7 @@ <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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<span class="lastupdated">
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Last updated on 18-Apr-2021.
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</span>
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</p>

‎3d_orient_unitquaternion.html

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+40-5Lines changed: 40 additions & 5 deletions
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@@ -515,11 +515,11 @@ <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>
518-
<span class="go"> 0.3133 &lt;&lt; -0.2483, -0.6576, -0.6385 &gt;&gt;</span>
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<span class="go"> 0.4676 &lt;&lt; -0.1619, -0.4433, -0.7474 &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"> 0.0836 &lt;&lt; -0.1272, 0.9800, -0.1279 &gt;&gt;</span>
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<span class="go"> 0.9402 &lt;&lt; 0.1954, -0.2173, 0.1748 &gt;&gt;</span>
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<span class="go"> 0.0234 &lt;&lt; -0.1530, -0.9080, 0.3894 &gt;&gt;</span>
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<span class="go"> 0.2378 &lt;&lt; -0.0332, -0.9512, 0.1941 &gt;&gt;</span>
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<span class="go"> 0.6332 &lt;&lt; -0.2309, 0.2788, 0.6841 &gt;&gt;</span>
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<span class="go"> 0.7883 &lt;&lt; 0.4252, -0.2082, -0.3930 &gt;&gt;</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -2200,6 +2200,8 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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<li><p>N&gt;1, return a NumPy array shape=(N,4).</p></li>
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</ul>
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</div></blockquote>
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<p>The quaternion coefficients are in the order (s, vx, vy, vz), ie. with
2204+
the scalar (real part) first.</p>
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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">Quaternion</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">Quaternion</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">])</span><span class="o">.</span><span class="n">vec</span>
@@ -2211,6 +2213,39 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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</div>
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</dd></dl>
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<dl class="py method">
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<dt id="spatialmath.quaternion.UnitQuaternion.vec_xyzs">
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<em class="property"><span class="pre">property</span> </em><code class="sig-name descname"><span class="pre">vec_xyzs</span></code><a class="headerlink" href="#spatialmath.quaternion.UnitQuaternion.vec_xyzs" title="Permalink to this definition"></a></dt>
2219+
<dd><p>Quaternion as a vector</p>
2220+
<dl class="field-list simple">
2221+
<dt class="field-odd">Returns</dt>
2222+
<dd class="field-odd"><p>quaternion expressed as a 4-vector</p>
2223+
</dd>
2224+
<dt class="field-even">Return type</dt>
2225+
<dd class="field-even"><p>numpy ndarray, shape=(4,)</p>
2226+
</dd>
2227+
</dl>
2228+
<p><code class="docutils literal notranslate"><span class="pre">q.vec</span></code> is the quaternion as a vector. If <cite>len(q)</cite> is:</p>
2229+
<blockquote>
2230+
<div><ul class="simple">
2231+
<li><p>1, return a NumPy array shape=(4,)</p></li>
2232+
<li><p>N&gt;1, return a NumPy array shape=(N,4).</p></li>
2233+
</ul>
2234+
</div></blockquote>
2235+
<p>The quaternion coefficients are in the order (vx, vy, vz, s), ie. with
2236+
the scalar (real part) last. This is useful when exporting to other
2237+
packages like three.js or pybullet.</p>
2238+
<p>Example:</p>
2239+
<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">Quaternion</span>
2240+
<span class="gp">&gt;&gt;&gt; </span><span class="n">Quaternion</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">])</span><span class="o">.</span><span class="n">vec_xyzs</span>
2241+
<span class="go">array([1, 2, 3, 4])</span>
2242+
<span class="gp">&gt;&gt;&gt; </span><span class="n">Quaternion</span><span class="p">([</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">,</span><span class="mi">7</span><span class="p">,</span><span class="mi">8</span><span class="p">]])</span><span class="o">.</span><span class="n">vec_xyzs</span>
2243+
<span class="go">array([[1, 2, 3, 4],</span>
2244+
<span class="go"> [5, 6, 7, 8]])</span>
2245+
</pre></div>
2246+
</div>
2247+
</dd></dl>
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<dl class="py method">
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<dt id="spatialmath.quaternion.UnitQuaternion.rpy">
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<code class="sig-name descname"><span class="pre">rpy</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">order</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'zyx'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/quaternion.html#UnitQuaternion.rpy"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.quaternion.UnitQuaternion.rpy" title="Permalink to this definition"></a></dt>
@@ -2472,7 +2507,7 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-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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Last updated on 15-Apr-2021.
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</p>

‎3d_plane.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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<span class="lastupdated">
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Last updated on 15-Apr-2021.
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Last updated on 18-Apr-2021.
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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 class="lastupdated">
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Last updated on 15-Apr-2021.
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Last updated on 18-Apr-2021.
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