diff --git a/2d_ellipse-1.pdf b/2d_ellipse-1.pdf index af63e334..5b2bad79 100644 Binary files a/2d_ellipse-1.pdf and b/2d_ellipse-1.pdf differ diff --git a/2d_ellipse-2.pdf b/2d_ellipse-2.pdf index 4129eb5d..b008ecc5 100644 Binary files a/2d_ellipse-2.pdf and b/2d_ellipse-2.pdf differ diff --git a/2d_ellipse.html b/2d_ellipse.html index 0677191d..6bee76a7 100644 --- a/2d_ellipse.html +++ b/2d_ellipse.html @@ -555,7 +555,7 @@

2D ellipse

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_line.html b/2d_line.html index 291ac2ca..2837775d 100644 --- a/2d_line.html +++ b/2d_line.html @@ -302,7 +302,7 @@

2D line

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_linesegment.html b/2d_linesegment.html index 051c8c00..b7539ee4 100644 --- a/2d_linesegment.html +++ b/2d_linesegment.html @@ -122,7 +122,7 @@

2D line segment

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_orient_SO2-1.pdf b/2d_orient_SO2-1.pdf index 98a07d72..bd6e8cb1 100644 Binary files a/2d_orient_SO2-1.pdf and b/2d_orient_SO2-1.pdf differ diff --git a/2d_orient_SO2.html b/2d_orient_SO2.html index 9d1d419e..9ddb9e79 100644 --- a/2d_orient_SO2.html +++ b/2d_orient_SO2.html @@ -121,7 +121,7 @@

SO(2) matrix

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -997,8 +997,8 @@

SO(2) matrix
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -1038,7 +1038,7 @@

SO(2) matrix
Return type
-

bool

+

bool

@@ -1809,7 +1809,7 @@

SO(2) matrix

printline() strline()

Return type
-

None

+

None

@@ -2167,7 +2167,7 @@

SO(2) matrix
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -2318,7 +2318,7 @@

SO(2) matrix

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_polygon-1.pdf b/2d_polygon-1.pdf index 7db4adb1..bf931a39 100644 Binary files a/2d_polygon-1.pdf and b/2d_polygon-1.pdf differ diff --git a/2d_polygon-2.pdf b/2d_polygon-2.pdf index 7bcec263..fa17e7a4 100644 Binary files a/2d_polygon-2.pdf and b/2d_polygon-2.pdf differ diff --git a/2d_polygon.html b/2d_polygon.html index a10e2629..79c8da5d 100644 --- a/2d_polygon.html +++ b/2d_polygon.html @@ -537,7 +537,7 @@

2D polgon

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_pose_SE2-1.pdf b/2d_pose_SE2-1.pdf index 93afc610..ace00e27 100644 Binary files a/2d_pose_SE2-1.pdf and b/2d_pose_SE2-1.pdf differ diff --git a/2d_pose_SE2.html b/2d_pose_SE2.html index 05692369..5d523558 100644 --- a/2d_pose_SE2.html +++ b/2d_pose_SE2.html @@ -125,7 +125,7 @@

SE(2) matrix

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -1152,8 +1152,8 @@

SE(2) matrix
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -1193,7 +1193,7 @@

SE(2) matrix
Return type
-

bool

+

bool

@@ -1964,7 +1964,7 @@

SE(2) matrix

printline() strline()

Return type
-

None

+

None

@@ -2340,7 +2340,7 @@

SE(2) matrix
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -2557,7 +2557,7 @@

SE(2) matrix

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/2d_pose_twist.html b/2d_pose_twist.html index e17f715c..2dd933a8 100644 --- a/2d_pose_twist.html +++ b/2d_pose_twist.html @@ -116,7 +116,7 @@

se(2) twist

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -701,11 +701,11 @@

se(2) twist
>>> from spatialmath import Twist3
 >>> S = Twist3(SE3.Rand())
 >>> S
-Twist3([-0.085167, 0.084531, -0.18368, 0.007879, 2.716, -0.97149])
+Twist3([0.53291, -0.8185, -0.32723, -2.2705, 0.2433, -0.10986])
 >>> S.inv()
-Twist3([0.085167, -0.084531, 0.18368, -0.007879, -2.716, 0.97149])
+Twist3([-0.53291, 0.8185, 0.32723, 2.2705, -0.2433, 0.10986])
 >>> S * S.inv()
-Twist3([0, -2.7756e-17, -3.9899e-17, 0, 0, 0])
+Twist3([1.1102e-16, -2.2204e-16, 0, 0, 0, 0])

@@ -850,7 +850,7 @@

se(2) twist
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -1126,7 +1126,7 @@

se(2) twist

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_dualquaternion.html b/3d_dualquaternion.html index 4a7d4398..9f73e778 100644 --- a/3d_dualquaternion.html +++ b/3d_dualquaternion.html @@ -140,7 +140,7 @@

Dual Quaternionclassmethod Pure(x)[source]
Return type
-

Self

+

Self

@@ -215,7 +215,7 @@

Dual Quaternion
Return type
-

Self

+

Self

@@ -359,7 +359,7 @@

Dual Quaternion

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_line.html b/3d_line.html index 6a8fcffc..4b9af3a0 100644 --- a/3d_line.html +++ b/3d_line.html @@ -108,9 +108,7 @@

3D line
-class Line3(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], w: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])[source]
-
-class Line3(v: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])
+class Line3(v=None, w=None, check=True)[source]

Bases: spatialmath.baseposelist.BasePoseList

@@ -121,7 +119,7 @@

3D line

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -295,9 +293,7 @@

3D line
-__init__(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], w: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])[source]
-
-__init__(v: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])
+__init__(v=None, w=None, check=True)[source]

Create a Line3 object

Parameters
@@ -529,8 +525,8 @@

3D line
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -570,7 +566,7 @@

3D line
Return type
-

bool

+

bool

@@ -1576,7 +1572,7 @@

3D line

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_orient_SO3-1.pdf b/3d_orient_SO3-1.pdf index aeabc732..1a1b774f 100644 Binary files a/3d_orient_SO3-1.pdf and b/3d_orient_SO3-1.pdf differ diff --git a/3d_orient_SO3.html b/3d_orient_SO3.html index f4ae4462..21198034 100644 --- a/3d_orient_SO3.html +++ b/3d_orient_SO3.html @@ -126,7 +126,7 @@

SO(3) matrix

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -241,9 +241,7 @@

SO(3) matrix
-classmethod Eul(*angles: float, unit: str = "'rad'") → typing_extensions.Self[source]
-
-classmethod Eul(*angles: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], unit: str = "'rad'") → typing_extensions.Self
+classmethod Eul(*angles, unit='rad')[source]

Construct a new SO(3) from Euler angles

Parameters
@@ -411,9 +409,7 @@

SO(3) matrix
-classmethod RPY(*angles: float, unit: str = "'rad'", order="'zyx'") → typing_extensions.Self[source]
-
-classmethod RPY(*angles: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], unit: str = "'rad'", order="'zyx'") → typing_extensions.Self
+classmethod RPY(*angles, unit='rad', order='zyx')[source]

Construct a new SO(3) from roll-pitch-yaw angles

Parameters
@@ -508,9 +504,9 @@

SO(3) matrix
>>> from spatialmath import SO3
 >>> x = SO3.Rand()
 >>> x
-SO3(array([[ 0.9424, -0.3344, -0.0026],
-           [ 0.1644,  0.4564,  0.8745],
-           [-0.2912, -0.8246,  0.4851]]))
+SO3(array([[-0.9534,  0.1331,  0.2706],
+           [-0.1306, -0.9911,  0.027 ],
+           [ 0.2718, -0.0096,  0.9623]]))
@@ -843,17 +839,7 @@

SO(3) matrix
-__init__()[source]
-
-__init__(arg: spatialmath.pose3d.SO3, *, check='True')
-
-__init__(arg: spatialmath.pose3d.SE3, *, check='True')
-
-__init__(arg: SO3Array, *, check='True')
-
-__init__(arg: List[SO3Array], *, check='True')
-
-__init__(arg: List[Union[spatialmath.pose3d.SO3, SO3Array]], *, check='True')
+__init__(arg=None, *, check=True)[source]

Construct new SO(3) object

Return type
@@ -1564,8 +1550,8 @@

SO(3) matrix
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -1605,7 +1591,7 @@

SO(3) matrix
Return type
-

bool

+

bool

@@ -2437,7 +2423,7 @@

SO(3) matrix

printline() strline()

Return type
-

None

+

None

@@ -2826,7 +2812,7 @@

SO(3) matrix
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -3046,7 +3032,7 @@

SO(3) matrix

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_orient_unitquaternion.html b/3d_orient_unitquaternion.html index ab40c116..f0e75ddb 100644 --- a/3d_orient_unitquaternion.html +++ b/3d_orient_unitquaternion.html @@ -137,7 +137,7 @@

Unit quaternion

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -451,11 +451,11 @@

Unit quaternion
>>> from spatialmath import UnitQuaternion as UQ
 >>> print(UQ.Rand())
- 0.4136 << -0.0236,  0.7383,  0.5322 >>
+ 0.1611 << -0.3811,  0.2960,  0.8610 >>
 >>> print(UQ.Rand(3))
- 0.3477 << -0.9081,  0.2034,  0.1147 >>
- 0.1876 << -0.7945,  0.5712, -0.0855 >>
- 0.2736 << -0.8952, -0.0688, -0.3451 >>
+ 0.1372 <<  0.4102,  0.9013,  0.0250 >>
+ 0.7938 << -0.4059, -0.3980, -0.2163 >>
+ 0.2434 <<  0.3112, -0.1144,  0.9115 >>
@@ -1692,7 +1692,7 @@

Unit quaternion
Return type
-

None

+

None

@@ -1769,7 +1769,7 @@

Unit quaternionParameters

  • end (UnitQuaternion) – final unit quaternion

    • -

  • shortest (Optional[bool]) – Take the shortest path along the great circle

    • +

  • shortest (Optional[bool]) – Take the shortest path along the great circle

  • s (array_like or int) – interpolation coefficient, range 0 to 1, or number of steps

@@ -1828,7 +1828,7 @@

Unit quaternion
Parameters
    -

  • shortest (Optional[bool]) – Take the shortest path along the great circle

    • +

  • shortest (Optional[bool]) – Take the shortest path along the great circle

  • s (array_like or int) – interpolation coefficient, range 0 to 1, or number of steps

@@ -2194,7 +2194,7 @@

Unit quaternion
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -2484,7 +2484,7 @@

Unit quaternion

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_plane.html b/3d_plane.html index 579ec5ea..14fb70d7 100644 --- a/3d_plane.html +++ b/3d_plane.html @@ -361,7 +361,7 @@

Plane

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_pose_SE3-1.pdf b/3d_pose_SE3-1.pdf index da72ba35..d5fb62a1 100644 Binary files a/3d_pose_SE3-1.pdf and b/3d_pose_SE3-1.pdf differ diff --git a/3d_pose_SE3.html b/3d_pose_SE3.html index 7c6dd10d..5532427f 100644 --- a/3d_pose_SE3.html +++ b/3d_pose_SE3.html @@ -168,7 +168,7 @@

SE(3) matrix

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -337,9 +337,7 @@

SE(3) matrix
-classmethod Eul(phi: float, theta: float, psi: float, unit: str = 'rad') → spatialmath.pose3d.SE3[source]
-
-classmethod Eul(angles: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], unit: str = 'rad') → spatialmath.pose3d.SE3
+classmethod Eul(*angles, unit='rad')[source]

Create an SE(3) pure rotation from Euler angles

Parameters
@@ -514,9 +512,7 @@

SE(3) matrix
-classmethod RPY(roll: float, pitch: float, yaw: float, unit: str = 'rad') → spatialmath.pose3d.SE3[source]
-
-classmethod RPY(angles: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], unit: str = 'rad') → spatialmath.pose3d.SE3
+classmethod RPY(*angles, unit='rad', order='zyx')[source]

Create an SE(3) pure rotation from roll-pitch-yaw angles

Parameters
@@ -622,13 +618,13 @@

SE(3) matrix
>>> from spatialmath import SE3
 >>> SE3.Rand(2)
 SE3([
-array([[ 0.3642,  0.9207, -0.14  ,  0.4218],
-       [ 0.5679, -0.3388, -0.7502,  0.3033],
-       [-0.7381,  0.1937, -0.6463,  0.7354],
+array([[-0.5737, -0.5994,  0.5583,  0.0125],
+       [-0.7935,  0.5757, -0.1973,  0.2054],
+       [-0.2032, -0.5561, -0.8059, -0.3645],
        [ 0.    ,  0.    ,  0.    ,  1.    ]]),
-array([[-0.706 , -0.1586, -0.6903,  0.4993],
-       [ 0.6593,  0.2087, -0.7223, -0.3281],
-       [ 0.2586, -0.965 , -0.0428, -0.2934],
+array([[ 0.8297, -0.4327,  0.3526, -0.3633],
+       [-0.1064,  0.4975,  0.8609,  0.4885],
+       [-0.548 , -0.7518,  0.3667, -0.2392],
        [ 0.    ,  0.    ,  0.    ,  1.    ]]) ])
@@ -842,9 +838,7 @@

SE(3) matrix
-classmethod Trans(x: float, y: float, z: float) → spatialmath.pose3d.SE3[source]
-
-classmethod Trans(xyz: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → spatialmath.pose3d.SE3
+classmethod Trans(x, y=None, z=None)[source]

Create SE(3) from translation vector

Parameters
@@ -1226,19 +1220,7 @@

SE(3) matrix
-__init__()[source]
-
-__init__(x: Union[spatialmath.pose3d.SE3, spatialmath.pose3d.SO3, spatialmath.pose2d.SE2], *, check='True')
-
-__init__(x: List[spatialmath.pose3d.SE3], *, check='True')
-
-__init__(x: float, y: float, z: float, *, check='True')
-
-__init__(x: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], *, check='True')
-
-__init__(x: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], *, check='True')
-
-__init__(x: List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], *, check='True')
+__init__(x=None, y=None, z=None, *, check=True)[source]

Construct new SE(3) object

Return type
@@ -2773,7 +2755,7 @@

SE(3) matrix

printline() strline()

Return type
-

None

+

None

@@ -3159,7 +3141,7 @@

SE(3) matrix
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -3501,7 +3483,7 @@

SE(3) matrix

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_pose_dualquaternion.html b/3d_pose_dualquaternion.html index 0021edf1..d94b1344 100644 --- a/3d_pose_dualquaternion.html +++ b/3d_pose_dualquaternion.html @@ -108,7 +108,7 @@

Unit dual quaternion

-class UnitDualQuaternion(T: spatialmath.pose3d.SE3)[source]
+class UnitDualQuaternion(real=None, dual=None)[source]

Bases: spatialmath.DualQuaternion.DualQuaternion

[summary]

@@ -131,7 +131,7 @@

Unit dual quaternionclassmethod Pure(x)
Return type
-

Self

+

Self

@@ -181,7 +181,7 @@

Unit dual quaternion
-__init__(T: spatialmath.pose3d.SE3)[source]
+__init__(real=None, dual=None)[source]

Create new unit dual quaternion

Parameters
@@ -201,14 +201,14 @@

Unit dual quaternion
>>> from spatialmath import UnitDualQuaternion, SE3
 >>> T = SE3.Rand()
 >>> print(T)
-   0.7367    0.1074   -0.6676   -0.4989    
-   0.6681   -0.2683    0.694     0.3831    
-  -0.1046   -0.9573   -0.2694    0.5062    
+   0.007573 -0.65      0.7599    0.1257    
+   0.3056    0.7251    0.6172   -0.03884   
+  -0.9521    0.2275    0.2041    0.9315    
    0         0         0         1         
 
 >>> d = UnitDualQuaternion(T)
 >>> print(d)
--0.5475 <<  0.7541,  0.2571, -0.2560 >> + ε  0.2037 <  0.0225,  0.0221, -0.3471 >
+ 0.6958 << -0.1400,  0.6151,  0.3433 >> + ε -0.1392 < -0.2494, -0.1003,  0.3600 >
 >>> type(d)
 <class 'spatialmath.DualQuaternion.UnitDualQuaternion'>
@@ -243,7 +243,7 @@

Unit dual quaternion
Return type
-

Self

+

Self

@@ -387,7 +387,7 @@

Unit dual quaternion

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_pose_twist.html b/3d_pose_twist.html index 881df7c0..5cc4de01 100644 --- a/3d_pose_twist.html +++ b/3d_pose_twist.html @@ -177,7 +177,7 @@

se(3) twist

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -323,8 +323,8 @@

se(3) twist
>>> from spatialmath import Twist3
 >>> Twist3.Rand(N=2)
 Twist3([
-  [-0.30051, -1.1276, 0.38612, 2.4369, 0.022505, 1.849],
-  [0.38281, 0.35688, -0.43225, -2.0304, 0.5188, -0.24966]
+  [-0.3593, -0.5476, 1.3714, 0.33385, -0.99977, 0.88985],
+  [0.18471, 0.33358, 1.0167, 2.5831, 0.72188, 0.64953]
 ])
@@ -1081,11 +1081,11 @@

se(3) twist
>>> from spatialmath import Twist3
 >>> S = Twist3(SE3.Rand())
 >>> S
-Twist3([0.50234, -0.19903, 0.067103, -0.61177, -1.6873, 0.17415])
+Twist3([0.91701, -0.51477, 0.19019, -0.43025, -0.52311, 0.82259])
 >>> S.inv()
-Twist3([-0.50234, 0.19903, -0.067103, 0.61177, 1.6873, -0.17415])
+Twist3([-0.91701, 0.51477, -0.19019, 0.43025, 0.52311, -0.82259])
 >>> S * S.inv()
-Twist3([2.7756e-17, 1.3878e-17, 0, 0, 0, 0])
+Twist3([1.1102e-16, 8.3267e-17, 1.1102e-16, 4.5679e-17, 2.7756e-17, 8.1938e-18])

@@ -1142,7 +1142,7 @@

se(3) twist
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/twist.py", line 968, in <listcomp>
     return Line3([Line3(-tw.v + tw.pitch * tw.w, tw.w) for tw in self])
-  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/geom3d.py", line 326, in __init__
+  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/geom3d.py", line 314, in __init__
     raise ValueError("invalid Plucker coordinates")
 ValueError: invalid Plucker coordinates
@@ -1259,7 +1259,7 @@

se(3) twist
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -1539,7 +1539,7 @@

se(3) twist

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/3d_quaternion.html b/3d_quaternion.html index 117c8285..ba0159d2 100644 --- a/3d_quaternion.html +++ b/3d_quaternion.html @@ -127,7 +127,7 @@

Quaternion

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -774,8 +774,8 @@

Quaternion
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -815,7 +815,7 @@

Quaternion
Return type
-

bool

+

bool

@@ -1321,7 +1321,7 @@

Quaternion
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -1528,7 +1528,7 @@

Quaternion

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_acceleration.html b/6d_acceleration.html index 4397d188..072d8704 100644 --- a/6d_acceleration.html +++ b/6d_acceleration.html @@ -137,7 +137,7 @@

Spatial acceleration

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -460,7 +460,7 @@

Spatial acceleration
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -511,7 +511,7 @@

Spatial acceleration

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_f6.html b/6d_f6.html index a6fd181c..ea60fc01 100644 --- a/6d_f6.html +++ b/6d_f6.html @@ -144,7 +144,7 @@

Spatial F6

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_force.html b/6d_force.html index ee611d4e..a28030dc 100644 --- a/6d_force.html +++ b/6d_force.html @@ -135,7 +135,7 @@

Spatial force

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -433,7 +433,7 @@

Spatial force
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -484,7 +484,7 @@

Spatial force

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_inertia.html b/6d_inertia.html index cd5c2ab0..86856a20 100644 --- a/6d_inertia.html +++ b/6d_inertia.html @@ -148,7 +148,7 @@

Spatial inertia

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -460,7 +460,7 @@

Spatial inertia
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -511,7 +511,7 @@

Spatial inertia

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_m6.html b/6d_m6.html index b22cda7a..b0c14133 100644 --- a/6d_m6.html +++ b/6d_m6.html @@ -168,7 +168,7 @@

Spatial M6

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_momentum.html b/6d_momentum.html index a83fb0c1..17a498c6 100644 --- a/6d_momentum.html +++ b/6d_momentum.html @@ -135,7 +135,7 @@

Spatial momentum

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -433,7 +433,7 @@

Spatial momentum
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -484,7 +484,7 @@

Spatial momentum

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_spatial.html b/6d_spatial.html index 2feccefc..9f8fd30c 100644 --- a/6d_spatial.html +++ b/6d_spatial.html @@ -372,7 +372,7 @@

Spatial vector

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/6d_velocity.html b/6d_velocity.html index 5ed43dab..8db22e45 100644 --- a/6d_velocity.html +++ b/6d_velocity.html @@ -137,7 +137,7 @@

Spatial velocity

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -460,7 +460,7 @@

Spatial velocity
-property A: Union[List[NDArray], NDArray]
+property A: Union[List[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]

Array value of an instance (BasePoseList superclass method)

Returns
@@ -511,7 +511,7 @@

Spatial velocity

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/_images/func_2d_graphics-8.png b/_images/func_2d_graphics-8.png index b21640af..be292ec8 100644 Binary files a/_images/func_2d_graphics-8.png and b/_images/func_2d_graphics-8.png differ diff --git a/_images/func_2d_graphics-9.png b/_images/func_2d_graphics-9.png index 846f0d69..f2b24dde 100644 Binary files a/_images/func_2d_graphics-9.png and b/_images/func_2d_graphics-9.png differ diff --git a/_images/func_3d_graphics-2.png b/_images/func_3d_graphics-2.png index 6b156418..a4c4d8e4 100644 Binary files a/_images/func_3d_graphics-2.png and b/_images/func_3d_graphics-2.png differ diff --git a/_modules/index.html b/_modules/index.html index 734ef573..3d3c9907 100644 --- a/_modules/index.html +++ b/_modules/index.html @@ -103,7 +103,7 @@

All modules for which code is available

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/_modules/spatialmath/DualQuaternion.html b/_modules/spatialmath/DualQuaternion.html index 0f8b969d..dadac8ed 100644 --- a/_modules/spatialmath/DualQuaternion.html +++ b/_modules/spatialmath/DualQuaternion.html @@ -80,12 +80,7 @@

Source code for spatialmath.DualQuaternion

 import numpy as np
 from spatialmath import Quaternion, UnitQuaternion, SE3
 from spatialmath import base
-from spatialmath.base.types import (
-    ArrayLike3,
-    R8,
-    R8x8,
-)
-from typing import Tuple, overload
+from spatialmath.base.types import *
 
 # TODO scalar multiplication
 
@@ -354,9 +349,11 @@ 
Source code for spatialmath.DualQuaternion
     """
 
     @overload
-    def __init__(self, T: SE3): ...
+    def __init__(self, T: SE3):
+        ...
 
-    def __init__(self, real: Quaternion, dual: Quaternion): ...
+    def __init__(self, real: Quaternion, dual: Quaternion):
+        ...
 
 
[docs]    def __init__(self, real=None, dual=None):
         r"""
@@ -455,7 +452,7 @@ 
Source code for spatialmath.DualQuaternion
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/animate.html b/_modules/spatialmath/base/animate.html
index baf99bfd..423f1d24 100644
--- a/_modules/spatialmath/base/animate.html
+++ b/_modules/spatialmath/base/animate.html
@@ -290,6 +290,7 @@ 
Source code for spatialmath.base.animate
                 # assume it is an SO(3) or SE(3)
                 T = frame
             # ensure result is SE(3)
+            
             if T.shape == (3, 3):
                 T = smb.r2t(T)
 
@@ -386,7 +387,7 @@ 
Source code for spatialmath.base.animate
             self.anim = anim
 
         def draw(self, T):
-            p = T @ self.p
+            p = T.A @ self.p
             self.h.set_data(p[0, :], p[1, :])
             self.h.set_3d_properties(p[2, :])
 
@@ -443,7 +444,8 @@ 
Source code for spatialmath.base.animate
             self.anim = anim
 
         def draw(self, T):
-            p = T @ self.p
+            # import ipdb; ipdb.set_trace()
+            p = T.A @ self.p
 
             # reshape it
             p = p[0:3, :].T.reshape(3, 2, 3)
@@ -497,7 +499,7 @@ 
Source code for spatialmath.base.animate
             self.anim = anim
 
         def draw(self, T):
-            p = T @ self.p
+            p = T.A @ self.p
             # x2, y2, _ = proj3d.proj_transform(
             #   p[0], p[1], p[2], self.anim.ax.get_proj())
             # self.h.set_position((x2, y2))
@@ -992,7 +994,7 @@ 
Source code for spatialmath.base.animate
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/argcheck.html b/_modules/spatialmath/base/argcheck.html
index c9473207..5e669535 100644
--- a/_modules/spatialmath/base/argcheck.html
+++ b/_modules/spatialmath/base/argcheck.html
@@ -83,25 +83,29 @@ 
Source code for spatialmath.base.argcheck
 
 """
 Utility functions for testing and converting passed arguments.  Used in all
-spatialmath functions and classes to provides for flexibility in argument types
+spatialmath functions and classes to provides for flexibility in argument types 
 that can be passed.
 """
 
 # pylint: disable=invalid-name
 
+import math
 import numpy as np
 from collections.abc import Iterable
-from typing import Union, List, Tuple, Any, Optional, Type, Callable, cast, overload
-from numpy.typing import DTypeLike, NDArray
 
 # from spatialmath.base import symbolic as sym # HACK
 from spatialmath.base.symbolic import issymbol, symtype
 
-from spatialmath.base.types import ArrayLike
-
 # valid scalar types
 _scalartypes = (int, np.integer, float, np.floating) + symtype
 
+# from typing import Union, List, Tuple, Any, Optional, Type, Callable
+# from numpy.typing import DTypeLike
+# Array = np.ndarray[Any, np.dtype[np.floating]]
+# ArrayLike = Union[float,List[float],Tuple,Array]  # various ways to represent R^3 for input
+
+from spatialmath.base.types import *
+
 
 
[docs]def isscalar(x: Any) -> bool:
     """
@@ -348,8 +352,7 @@ 
Source code for spatialmath.base.argcheck
         raise ValueError("incorrect matrix dimensions, expecting {0}".format(shape))

 
 
-# and not np.iscomplex(m) checks every element, would need to be not
-# np.any(np.iscomplex(m)) which seems expensive
+# and not np.iscomplex(m) checks every element, would need to be not np.any(np.iscomplex(m)) which seems expensive
 
 
 @overload
@@ -358,7 +361,8 @@ 
Source code for spatialmath.base.argcheck
     dim: Optional[Union[int, None]] = None,
     out: str = "array",
     dtype: DTypeLike = np.float64,
-) -> NDArray: ...
+) -> NDArray:
+    ...
 
 
 @overload
@@ -367,7 +371,8 @@ 
Source code for spatialmath.base.argcheck
     dim: Optional[Union[int, None]] = None,
     out: str = "list",
     dtype: DTypeLike = np.float64,
-) -> List[float]: ...
+) -> List[float]:
+    ...
 
 
 @overload
@@ -376,7 +381,8 @@ 
Source code for spatialmath.base.argcheck
     dim: Optional[Union[int, None]] = None,
     out: str = "sequence",
     dtype: DTypeLike = np.float64,
-) -> Tuple[float, ...]: ...
+) -> Tuple[float, ...]:
+    ...
 
 
 @overload
@@ -385,7 +391,8 @@ 
Source code for spatialmath.base.argcheck
     dim: Optional[Union[int, None]] = None,
     out: str = "sequence",
     dtype: DTypeLike = np.float64,
-) -> List[float]: ...
+) -> List[float]:
+    ...
 
 
 
[docs]def getvector(
@@ -581,8 +588,8 @@ 
Source code for spatialmath.base.argcheck
         if dim is None:
             return (
                 (len(s) == 1 and s[0] > 0)
-                or (len(s) > 1 and s[0] == 1 and s[1] > 0)
-                or (len(s) > 1 and s[0] > 0 and s[1] == 1)
+                or (s[0] == 1 and s[1] > 0)
+                or (s[0] > 0 and s[1] == 1)
             )
         else:
             return s == (dim,) or s == (1, dim) or s == (dim, 1)
@@ -773,7 +780,7 @@ 
Source code for spatialmath.base.argcheck
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/graphics.html b/_modules/spatialmath/base/graphics.html
index 4cfca900..c975d8f2 100644
--- a/_modules/spatialmath/base/graphics.html
+++ b/_modules/spatialmath/base/graphics.html
@@ -83,19 +83,7 @@ 
Source code for spatialmath.base.graphics
 from matplotlib import colors
 
 from spatialmath import base as smb
-from spatialmath.base.types import (
-    ArrayLike,
-    ArrayLike2,
-    ArrayLike3,
-    ArrayLike4,
-    R2x2,
-    R3x3,
-    Points2,
-    SE3Array,
-    Color,
-)
-from typing import List, Optional, Union, Tuple, Callable, overload
-from numpy.typing import NDArray
+from spatialmath.base.types import *
 
 # To assist code portability to headless platforms, these graphics primitives
 # are defined as null functions.
@@ -1299,7 +1287,9 @@ 
Source code for spatialmath.base.graphics
         z = height
         X, Z = np.meshgrid(x, z)
 
-        Y = np.sqrt(radius**2 - (X - centre[0]) ** 2) + centre[1]  # Pythagorean theorem
+        Y = (
+            np.sqrt(radius**2 - (X - centre[0]) ** 2) + centre[1]
+        )  # Pythagorean theorem
 
         handles = []
         handles.append(_render3D(ax, X, Y, Z, filled=filled, **kwargs))
@@ -1482,9 +1472,9 @@ 
Source code for spatialmath.base.graphics
             edges = [[0, 1, 3, 2, 0], [4, 5, 7, 6, 4], [0, 4], [1, 5], [3, 7], [2, 6]]
             lines = []
             for edge in edges:
-                E = vertices[:, edge]
-                # ax.plot(E[0], E[1], E[2], **kwargs)
-                lines.append(E.T)
+                for line in zip(edge[:-1], edge[1:]):
+                    E = vertices[:, line]
+                    lines.append(E.T)
             if "color" in kwargs:
                 if "alpha" in kwargs:
                     alpha = kwargs["alpha"]
@@ -1570,7 +1560,8 @@ 
Source code for spatialmath.base.graphics
         dimensions: int = 2,
         autoscale: Optional[bool] = True,
         new: Optional[bool] = False,
-    ) -> plt.Axes: ...
+    ) -> plt.Axes:
+        ...
 
     @overload
     def axes_logic(
@@ -1579,7 +1570,8 @@ 
Source code for spatialmath.base.graphics
         projection: Optional[str] = "ortho",
         autoscale: Optional[bool] = True,
         new: Optional[bool] = False,
-    ) -> Axes3D: ...
+    ) -> Axes3D:
+        ...
 
     def axes_logic(
         ax: Union[plt.Axes, Axes3D, None],
@@ -1894,7 +1886,7 @@ 
Source code for spatialmath.base.graphics
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/numeric.html b/_modules/spatialmath/base/numeric.html
index 32abc4b4..ec017367 100644
--- a/_modules/spatialmath/base/numeric.html
+++ b/_modules/spatialmath/base/numeric.html
@@ -79,13 +79,7 @@ 
Source code for spatialmath.base.numeric
 import re
 import numpy as np
 from spatialmath import base
-from spatialmath.base.types import (
-    ArrayLike,
-    ArrayLike2,
-    Points2,
-)
-from numpy.typing import NDArray
-from typing import Callable, Tuple
+from spatialmath.base.types import *
 
 # this is a collection of useful algorithms, not otherwise categorized
 
@@ -457,7 +451,11 @@ 
Source code for spatialmath.base.numeric
     sigma = np.sqrt(var)
     x = base.getvector(x)
 
-    return 1.0 / np.sqrt(sigma**2 * 2 * np.pi) * np.exp(-((x - mu) ** 2) / 2 / sigma**2)

+    return (
+        1.0
+        / np.sqrt(sigma**2 * 2 * np.pi)
+        * np.exp(-((x - mu) ** 2) / 2 / sigma**2)
+    )

 
 
 
[docs]def gauss2d(mu: ArrayLike2, P: NDArray, X: NDArray, Y: NDArray) -> NDArray:
@@ -534,7 +532,7 @@ 
Source code for spatialmath.base.numeric
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/quaternions.html b/_modules/spatialmath/base/quaternions.html
index a857ba7c..d735c4ff 100644
--- a/_modules/spatialmath/base/quaternions.html
+++ b/_modules/spatialmath/base/quaternions.html
@@ -92,17 +92,7 @@ 
Source code for spatialmath.base.quaternions
import math
 import numpy as np
 import spatialmath.base as smb
-from spatialmath.base.types import (
-    ArrayLike3,
-    ArrayLike4,
-    R3,
-    R4x4,
-    SO3Array,
-    QuaternionArray,
-    UnitQuaternionArray,
-)
-
-from typing import Union, Optional, Tuple, overload, TextIO
+from spatialmath.base.types import *
 
 _eps = np.finfo(np.float64).eps
 
@@ -264,7 +254,8 @@ 
Source code for spatialmath.base.quaternions
q2: ArrayLike4,
     tol: float = 20,
     unitq: Optional[bool] = False,
-) -> bool: ...
+) -> bool:
+    ...
 
 
 @overload
@@ -273,7 +264,8 @@ 
Source code for spatialmath.base.quaternions
q2: ArrayLike4,
     tol: float = 20,
     unitq: Optional[bool] = True,
-) -> bool: ...
+) -> bool:
+    ...
 
 
 
[docs]def qisequal(q1, q2, tol: float = 20, unitq: Optional[bool] = False):
@@ -1157,7 +1149,7 @@ 
Source code for spatialmath.base.quaternions
     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/symbolic.html b/_modules/spatialmath/base/symbolic.html
index 04baf7dc..f73cc952 100644
--- a/_modules/spatialmath/base/symbolic.html
+++ b/_modules/spatialmath/base/symbolic.html
@@ -86,13 +86,11 @@ 
Source code for spatialmath.base.symbolic
 Symbolic arguments.
 
 If SymPy is not installed then only the standard numeric operations are
-supported.
+supported. 
 """
 
 import math
-
-from typing import Any, Optional, Tuple, Union, overload
-
+from spatialmath.base.types import *
 
 try:  # pragma: no cover
     # print('Using SymPy')
@@ -174,11 +172,13 @@ 
Source code for spatialmath.base.symbolic
 
 
 @overload
-def sin(theta: float) -> float: ...
+def sin(theta: float) -> float:
+    ...
 
 
 @overload
-def sin(theta: Symbol) -> Symbol: ...
+def sin(theta: Symbol) -> Symbol:
+    ...
 
 
 
[docs]def sin(theta):
@@ -206,11 +206,13 @@ 
Source code for spatialmath.base.symbolic
 
 
 @overload
-def cos(theta: float) -> float: ...
+def cos(theta: float) -> float:
+    ...
 
 
 @overload
-def cos(theta: Symbol) -> Symbol: ...
+def cos(theta: Symbol) -> Symbol:
+    ...
 
 
 
[docs]def cos(theta):
@@ -238,11 +240,13 @@ 
Source code for spatialmath.base.symbolic
 
 
 @overload
-def tan(theta: float) -> float: ...
+def tan(theta: float) -> float:
+    ...
 
 
 @overload
-def tan(theta: Symbol) -> Symbol: ...
+def tan(theta: Symbol) -> Symbol:
+    ...
 
 
 
[docs]def tan(theta):
@@ -270,11 +274,13 @@ 
Source code for spatialmath.base.symbolic
 
 
 @overload
-def sqrt(theta: float) -> float: ...
+def sqrt(theta: float) -> float:
+    ...
 
 
 @overload
-def sqrt(theta: Symbol) -> Symbol: ...
+def sqrt(theta: Symbol) -> Symbol:
+    ...
 
 
 
[docs]def sqrt(v):
@@ -435,7 +441,7 @@ 
Source code for spatialmath.base.symbolic
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/transforms2d.html b/_modules/spatialmath/base/transforms2d.html
index 5e28e91c..877ab089 100644
--- a/_modules/spatialmath/base/transforms2d.html
+++ b/_modules/spatialmath/base/transforms2d.html
@@ -104,26 +104,7 @@ 
Source code for spatialmath.base.transforms2d
_matplotlib_exists = False
 
 import spatialmath.base as smb
-
-# from spatialmath.base.types import *
-from typing import Any, Optional, Union, overload, cast, TextIO, Tuple
-from numpy.typing import ArrayLike, NDArray
-from spatialmath.base.types import (
-    SO2Array,
-    SE2Array,
-    SE3Array,
-    so2Array,
-    se2Array,
-    R2,
-    R3,
-    ArrayLike2,
-    ArrayLike3,
-    R1x1,
-    R3x3,
-    ArrayLikePure,
-    Points2,
-    Color,
-)
+from spatialmath.base.types import *
 from spatialmath.base.transformsNd import rt2tr
 from spatialmath.base.vectors import unitvec
 
@@ -269,15 +250,18 @@ 
Source code for spatialmath.base.transforms2d
# ---------------------------------------------------------------------------------------#
 @overload  # pragma: no cover
-def transl2(x: float, y: float) -> SE2Array: ...
+def transl2(x: float, y: float) -> SE2Array:
+    ...
 
 
 @overload  # pragma: no cover
-def transl2(x: ArrayLike2) -> SE2Array: ...
+def transl2(x: ArrayLike2) -> SE2Array:
+    ...
 
 
 @overload  # pragma: no cover
-def transl2(x: SE2Array) -> R2: ...
+def transl2(x: SE2Array) -> R2:
+    ...
 
 
 
[docs]def transl2(x, y=None):
@@ -540,7 +524,8 @@ 
Source code for spatialmath.base.transforms2d
twist: bool = False,
     check: bool = True,
     tol: float = 20,
-) -> so2Array: ...
+) -> so2Array:
+    ...
 
 
 @overload  # pragma: no cover
@@ -549,7 +534,8 @@ 
Source code for spatialmath.base.transforms2d
twist: bool = False,
     check: bool = True,
     tol: float = 20,
-) -> se2Array: ...
+) -> se2Array:
+    ...
 
 
 @overload  # pragma: no cover
@@ -558,7 +544,8 @@ 
Source code for spatialmath.base.transforms2d
twist: bool = True,
     check: bool = True,
     tol: float = 20,
-) -> float: ...
+) -> float:
+    ...
 
 
 @overload  # pragma: no cover
@@ -567,7 +554,8 @@ 
Source code for spatialmath.base.transforms2d
twist: bool = True,
     check: bool = True,
     tol: float = 20,
-) -> R3: ...
+) -> R3:
+    ...
 
 
 
[docs]def trlog2(
@@ -653,15 +641,13 @@ 
Source code for spatialmath.base.transforms2d
# ---------------------------------------------------------------------------------------#
 @overload  # pragma: no cover
-def trexp2(
-    S: so2Array, theta: Optional[float] = None, check: bool = True
-) -> SO2Array: ...
+def trexp2(S: so2Array, theta: Optional[float] = None, check: bool = True) -> SO2Array:
+    ...
 
 
 @overload  # pragma: no cover
-def trexp2(
-    S: se2Array, theta: Optional[float] = None, check: bool = True
-) -> SE2Array: ...
+def trexp2(S: se2Array, theta: Optional[float] = None, check: bool = True) -> SE2Array:
+    ...
 
 
 
[docs]def trexp2(
@@ -784,7 +770,8 @@ 
Source code for spatialmath.base.transforms2d
@overload  # pragma: no cover
-def trnorm2(R: SO2Array) -> SO2Array: ...
+def trnorm2(R: SO2Array) -> SO2Array:
+    ...
 
 
 
[docs]def trnorm2(T: SE2Array) -> SE2Array:
@@ -849,11 +836,13 @@ 
Source code for spatialmath.base.transforms2d
@overload  # pragma: no cover
-def tradjoint2(T: SO2Array) -> R1x1: ...
+def tradjoint2(T: SO2Array) -> R1x1:
+    ...
 
 
 @overload  # pragma: no cover
-def tradjoint2(T: SE2Array) -> R3x3: ...
+def tradjoint2(T: SE2Array) -> R3x3:
+    ...
 
 
 
[docs]def tradjoint2(T):
@@ -942,15 +931,13 @@ 
Source code for spatialmath.base.transforms2d
@overload
-def trinterp2(
-    start: Optional[SO2Array], end: SO2Array, s: float, shortest: bool = True
-) -> SO2Array: ...
+def trinterp2(start: Optional[SO2Array], end: SO2Array, s: float, shortest: bool = True) -> SO2Array:
+    ...
 
 
 @overload
-def trinterp2(
-    start: Optional[SE2Array], end: SE2Array, s: float, shortest: bool = True
-) -> SE2Array: ...
+def trinterp2(start: Optional[SE2Array], end: SE2Array, s: float, shortest: bool = True) -> SE2Array:
+    ...
 
 
 
[docs]def trinterp2(start, end, s, shortest: bool = True):
@@ -1674,7 +1661,7 @@ 
Source code for spatialmath.base.transforms2d

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/transforms3d.html b/_modules/spatialmath/base/transforms3d.html
index c23100af..19b8dcad 100644
--- a/_modules/spatialmath/base/transforms3d.html
+++ b/_modules/spatialmath/base/transforms3d.html
@@ -96,7 +96,7 @@ 
Source code for spatialmath.base.transforms3d
from collections.abc import Iterable
 import math
 import numpy as np
-from typing import Any, Optional, Union, overload, cast, Tuple, TextIO, List
+
 from spatialmath.base.argcheck import getunit, getvector, isvector, isscalar, ismatrix
 from spatialmath.base.vectors import (
     unitvec,
@@ -118,6 +118,7 @@ 
Source code for spatialmath.base.transforms3d
isskew,
     isskewa,
     isR,
+    iseye,
     tr2rt,
     Ab2M,
 )
@@ -125,19 +126,8 @@ 
Source code for spatialmath.base.transforms3d
from spatialmath.base.graphics import plotvol3, axes_logic
 from spatialmath.base.animate import Animate
 import spatialmath.base.symbolic as sym
-from spatialmath.base.types import (
-    ArrayLikePure,
-    ArrayLike3,
-    ArrayLike6,
-    R3,
-    R6,
-    R3x3,
-    R6x6,
-    SO3Array,
-    SE3Array,
-    so3Array,
-    se3Array,
-)
+
+from spatialmath.base.types import *
 
 _eps = np.finfo(np.float64).eps
 
@@ -351,15 +341,18 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
-def transl(x: float, y: float, z: float) -> SE3Array: ...
+def transl(x: float, y: float, z: float) -> SE3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def transl(x: ArrayLike3) -> SE3Array: ...
+def transl(x: ArrayLike3) -> SE3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def transl(x: SE3Array) -> R3: ...
+def transl(x: SE3Array) -> R3:
+    ...
 
 
 
[docs]def transl(x, y=None, z=None):
@@ -511,7 +504,8 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
 def rpy2r(
     roll: float, pitch: float, yaw: float, *, unit: str = "rad", order: str = "zyx"
-) -> SO3Array: ...
+) -> SO3Array:
+    ...
 
 
 @overload  # pragma: no cover
@@ -522,7 +516,8 @@ 
Source code for spatialmath.base.transforms3d
*,
     unit: str = "rad",
     order: str = "zyx",
-) -> SO3Array: ...
+) -> SO3Array:
+    ...
 
 
 
[docs]def rpy2r(
@@ -600,7 +595,8 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
 def rpy2tr(
     roll: float, pitch: float, yaw: float, unit: str = "rad", order: str = "zyx"
-) -> SE3Array: ...
+) -> SE3Array:
+    ...
 
 
 @overload  # pragma: no cover
@@ -610,7 +606,8 @@ 
Source code for spatialmath.base.transforms3d
yaw: None = None,
     unit: str = "rad",
     order: str = "zyx",
-) -> SE3Array: ...
+) -> SE3Array:
+    ...
 
 
 
[docs]def rpy2tr(
@@ -674,13 +671,15 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
-def eul2r(phi: float, theta: float, psi: float, unit: str = "rad") -> SO3Array: ...
+def eul2r(phi: float, theta: float, psi: float, unit: str = "rad") -> SO3Array:
+    ...
 
 
 @overload  # pragma: no cover
 def eul2r(
     phi: ArrayLike3, theta: None = None, psi: None = None, unit: str = "rad"
-) -> SO3Array: ...
+) -> SO3Array:
+    ...
 
 
 
[docs]def eul2r(
@@ -733,11 +732,13 @@ 
Source code for spatialmath.base.transforms3d
# ---------------------------------------------------------------------------------------#
 @overload  # pragma: no cover
-def eul2tr(phi: float, theta: float, psi: float, unit: str = "rad") -> SE3Array: ...
+def eul2tr(phi: float, theta: float, psi: float, unit: str = "rad") -> SE3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def eul2tr(phi: ArrayLike3, theta=None, psi=None, unit: str = "rad") -> SE3Array: ...
+def eul2tr(phi: ArrayLike3, theta=None, psi=None, unit: str = "rad") -> SE3Array:
+    ...
 
 
 
[docs]def eul2tr(
@@ -1349,25 +1350,25 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
 def trlog(
     T: SO3Array, check: bool = True, twist: bool = False, tol: float = 20
-) -> so3Array: ...
+) -> so3Array:
+    ...
 
 
 @overload  # pragma: no cover
 def trlog(
     T: SE3Array, check: bool = True, twist: bool = False, tol: float = 20
-) -> se3Array: ...
+) -> se3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def trlog(
-    T: SO3Array, check: bool = True, twist: bool = True, tol: float = 20
-) -> R3: ...
+def trlog(T: SO3Array, check: bool = True, twist: bool = True, tol: float = 20) -> R3:
+    ...
 
 
 @overload  # pragma: no cover
-def trlog(
-    T: SE3Array, check: bool = True, twist: bool = True, tol: float = 20
-) -> R6: ...
+def trlog(T: SE3Array, check: bool = True, twist: bool = True, tol: float = 20) -> R6:
+    ...
 
 
 
[docs]def trlog(
@@ -1482,23 +1483,23 @@ 
Source code for spatialmath.base.transforms3d
# ---------------------------------------------------------------------------------------#
 @overload  # pragma: no cover
-def trexp(
-    S: so3Array, theta: Optional[float] = None, check: bool = True
-) -> SO3Array: ...
+def trexp(S: so3Array, theta: Optional[float] = None, check: bool = True) -> SO3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def trexp(
-    S: se3Array, theta: Optional[float] = None, check: bool = True
-) -> SE3Array: ...
+def trexp(S: se3Array, theta: Optional[float] = None, check: bool = True) -> SE3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def trexp(S: ArrayLike3, theta: Optional[float] = None, check=True) -> SO3Array: ...
+def trexp(S: ArrayLike3, theta: Optional[float] = None, check=True) -> SO3Array:
+    ...
 
 
 @overload  # pragma: no cover
-def trexp(S: ArrayLike6, theta: Optional[float] = None, check=True) -> SE3Array: ...
+def trexp(S: ArrayLike6, theta: Optional[float] = None, check=True) -> SE3Array:
+    ...
 
 
 
[docs]def trexp(S, theta=None, check=True):
@@ -1619,7 +1620,8 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
-def trnorm(R: SO3Array) -> SO3Array: ...
+def trnorm(R: SO3Array) -> SO3Array:
+    ...
 
 
 
[docs]def trnorm(T: SE3Array) -> SE3Array:
@@ -1681,15 +1683,13 @@ 
Source code for spatialmath.base.transforms3d
@overload
-def trinterp(
-    start: Optional[SO3Array], end: SO3Array, s: float, shortest: bool = True
-) -> SO3Array: ...
+def trinterp(start: Optional[SO3Array], end: SO3Array, s: float, shortest: bool = True) -> SO3Array:
+    ...
 
 
 @overload
-def trinterp(
-    start: Optional[SE3Array], end: SE3Array, s: float, shortest: bool = True
-) -> SE3Array: ...
+def trinterp(start: Optional[SE3Array], end: SE3Array, s: float, shortest: bool = True) -> SE3Array:
+    ...
 
 
 
[docs]def trinterp(start, end, s, shortest=True):
@@ -2302,7 +2302,8 @@ 
Source code for spatialmath.base.transforms3d
inverse: bool = False,
     full: bool = False,
     representation="rpy/xyz",
-) -> R3x3: ...
+) -> R3x3:
+    ...
 
 
 @overload  # pragma: no cover
@@ -2310,7 +2311,8 @@ 
Source code for spatialmath.base.transforms3d
𝚪: SO3Array,
     inverse: bool = False,
     full: bool = False,
-) -> R3x3: ...
+) -> R3x3:
+    ...
 
 
 @overload  # pragma: no cover
@@ -2319,7 +2321,8 @@ 
Source code for spatialmath.base.transforms3d
inverse: bool = False,
     full: bool = True,
     representation="rpy/xyz",
-) -> R6x6: ...
+) -> R6x6:
+    ...
 
 
 @overload  # pragma: no cover
@@ -2327,7 +2330,8 @@ 
Source code for spatialmath.base.transforms3d
𝚪: SO3Array,
     inverse: bool = False,
     full: bool = True,
-) -> R6x6: ...
+) -> R6x6:
+    ...
 
 
 
[docs]def rotvelxform(
@@ -2539,13 +2543,15 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
 def rotvelxform_inv_dot(
     𝚪: ArrayLike3, 𝚪d: ArrayLike3, full: bool = False, representation: str = "rpy/xyz"
-) -> R3x3: ...
+) -> R3x3:
+    ...
 
 
 @overload  # pragma: no cover
 def rotvelxform_inv_dot(
     𝚪: ArrayLike3, 𝚪d: ArrayLike3, full: bool = True, representation: str = "rpy/xyz"
-) -> R6x6: ...
+) -> R6x6:
+    ...
 
 
 
[docs]def rotvelxform_inv_dot(
@@ -2742,11 +2748,13 @@ 
Source code for spatialmath.base.transforms3d
@overload  # pragma: no cover
-def tr2adjoint(T: SO3Array) -> R3x3: ...
+def tr2adjoint(T: SO3Array) -> R3x3:
+    ...
 
 
 @overload  # pragma: no cover
-def tr2adjoint(T: SE3Array) -> R6x6: ...
+def tr2adjoint(T: SE3Array) -> R6x6:
+    ...
 
 
 
[docs]def tr2adjoint(T):
@@ -3544,7 +3552,7 @@ 
Source code for spatialmath.base.transforms3d

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/transformsNd.html b/_modules/spatialmath/base/transformsNd.html
index 2d975b14..5f508b8f 100644
--- a/_modules/spatialmath/base/transformsNd.html
+++ b/_modules/spatialmath/base/transformsNd.html
@@ -89,31 +89,11 @@ 
Source code for spatialmath.base.transformsNd
"""
 # pylint: disable=invalid-name
 
+import math
 import numpy as np
-from spatialmath.base.types import (
-    ArrayLike2,
-    ArrayLike3,
-    ArrayLike6,
-    R1,
-    R2,
-    R3,
-    R6,
-    SO2Array,
-    SE2Array,
-    SO3Array,
-    SE3Array,
-    so2Array,
-    se2Array,
-    so3Array,
-    se3Array,
-    Rn,
-    SOnArray,
-    SEnArray,
-    senArray,
-)
+from spatialmath.base.types import *
 from spatialmath.base.argcheck import getvector, isvector
-from typing import Tuple, Union, overload
-from numpy.typing import NDArray
+from spatialmath.base.vectors import iszerovec, unitvec_norm
 
 # from spatialmath.base.symbolic import issymbol
 # from spatialmath.base.transforms3d import transl
@@ -134,11 +114,13 @@ 
Source code for spatialmath.base.transformsNd
# ---------------------------------------------------------------------------------------#
 @overload
-def r2t(R: SO2Array, check: bool = False) -> SE2Array: ...
+def r2t(R: SO2Array, check: bool = False) -> SE2Array:
+    ...
 
 
 @overload
-def r2t(R: SO3Array, check: bool = False) -> SE3Array: ...
+def r2t(R: SO3Array, check: bool = False) -> SE3Array:
+    ...
 
 
 
[docs]def r2t(R, check=False):
@@ -198,11 +180,13 @@ 
Source code for spatialmath.base.transformsNd
# ---------------------------------------------------------------------------------------#
 @overload
-def t2r(T: SE2Array, check: bool = False) -> SO2Array: ...
+def t2r(T: SE2Array, check: bool = False) -> SO2Array:
+    ...
 
 
 @overload
-def t2r(T: SE3Array, check: bool = False) -> SO3Array: ...
+def t2r(T: SE3Array, check: bool = False) -> SO3Array:
+    ...
 
 
 
[docs]def t2r(T: SEnArray, check: bool = False) -> SOnArray:
@@ -261,11 +245,13 @@ 
Source code for spatialmath.base.transformsNd
@overload
-def tr2rt(T: SE2Array, check=False) -> Tuple[SO2Array, R2]: ...
+def tr2rt(T: SE2Array, check=False) -> Tuple[SO2Array, R2]:
+    ...
 
 
 @overload
-def tr2rt(T: SE3Array, check=False) -> Tuple[SO3Array, R3]: ...
+def tr2rt(T: SE3Array, check=False) -> Tuple[SO3Array, R3]:
+    ...
 
 
 
[docs]def tr2rt(T: SEnArray, check=False) -> Tuple[SOnArray, Rn]:
@@ -319,11 +305,13 @@ 
Source code for spatialmath.base.transformsNd
@overload
-def rt2tr(R: SO2Array, t: ArrayLike2, check=False) -> SE2Array: ...
+def rt2tr(R: SO2Array, t: ArrayLike2, check=False) -> SE2Array:
+    ...
 
 
 @overload
-def rt2tr(R: SO3Array, t: ArrayLike3, check=False) -> SE3Array: ...
+def rt2tr(R: SO3Array, t: ArrayLike3, check=False) -> SE3Array:
+    ...
 
 
 
[docs]def rt2tr(R, t, check=False):
@@ -562,11 +550,13 @@ 
Source code for spatialmath.base.transformsNd
# ---------------------------------------------------------------------------------------#
 @overload
-def skew(v: float) -> se2Array: ...
+def skew(v: float) -> se2Array:
+    ...
 
 
 @overload
-def skew(v: ArrayLike3) -> se3Array: ...
+def skew(v: ArrayLike3) -> se3Array:
+    ...
 
 
 
[docs]def skew(v):
@@ -620,11 +610,13 @@ 
Source code for spatialmath.base.transformsNd
# ---------------------------------------------------------------------------------------#
 @overload
-def vex(s: so2Array, check: bool = False) -> R1: ...
+def vex(s: so2Array, check: bool = False) -> R1:
+    ...
 
 
 @overload
-def vex(s: so3Array, check: bool = False) -> R3: ...
+def vex(s: so3Array, check: bool = False) -> R3:
+    ...
 
 
 
[docs]def vex(s, check=False):
@@ -677,11 +669,13 @@ 
Source code for spatialmath.base.transformsNd
# ---------------------------------------------------------------------------------------#
 @overload
-def skewa(v: ArrayLike3) -> se2Array: ...
+def skewa(v: ArrayLike3) -> se2Array:
+    ...
 
 
 @overload
-def skewa(v: ArrayLike6) -> se3Array: ...
+def skewa(v: ArrayLike6) -> se3Array:
+    ...
 
 
 
[docs]def skewa(v: Union[ArrayLike3, ArrayLike6]) -> Union[se2Array, se3Array]:
@@ -731,11 +725,13 @@ 
Source code for spatialmath.base.transformsNd
@overload
-def vexa(Omega: se2Array, check: bool = False) -> R3: ...
+def vexa(Omega: se2Array, check: bool = False) -> R3:
+    ...
 
 
 @overload
-def vexa(Omega: se3Array, check: bool = False) -> R6: ...
+def vexa(Omega: se3Array, check: bool = False) -> R6:
+    ...
 
 
 
[docs]def vexa(Omega: senArray, check: bool = False) -> Union[R3, R6]:
@@ -952,7 +948,7 @@ 
Source code for spatialmath.base.transformsNd

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/base/vectors.html b/_modules/spatialmath/base/vectors.html
index eba2e08c..1dd8e15f 100644
--- a/_modules/spatialmath/base/vectors.html
+++ b/_modules/spatialmath/base/vectors.html
@@ -92,16 +92,7 @@ 
Source code for spatialmath.base.vectors
 import math
 import numpy as np
 from spatialmath.base.argcheck import getvector
-from spatialmath.base.types import (
-    ArrayLike,
-    ArrayLikePure,
-    R3,
-    R6,
-    ArrayLike6,
-    ArrayLike3,
-)
-from typing import Tuple, Union, overload
-from numpy.typing import NDArray
+from spatialmath.base.types import *
 
 try:  # pragma: no cover
     # print('Using SymPy')
@@ -707,11 +698,13 @@ 
Source code for spatialmath.base.vectors
 
 
 @overload
-def angdiff(a: ArrayLike, b: ArrayLike) -> NDArray: ...
+def angdiff(a: ArrayLike, b: ArrayLike) -> NDArray:
+    ...
 
 
 @overload
-def angdiff(a: ArrayLike) -> NDArray: ...
+def angdiff(a: ArrayLike) -> NDArray:
+    ...
 
 
 
[docs]def angdiff(a, b=None):
@@ -955,7 +948,7 @@ 
Source code for spatialmath.base.vectors
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/geom2d.html b/_modules/spatialmath/geom2d.html
index eca4329b..5efc0033 100644
--- a/_modules/spatialmath/geom2d.html
+++ b/_modules/spatialmath/geom2d.html
@@ -85,7 +85,6 @@ 
Source code for spatialmath.geom2d
 """
 from __future__ import annotations
 
-from typing_extensions import Self
 from functools import reduce
 import warnings
 import matplotlib.pyplot as plt
@@ -99,15 +98,22 @@ 
Source code for spatialmath.geom2d
 from spatialmath.base import plot_ellipse
 from spatialmath.base.types import (
     Points2,
+    Optional,
     ArrayLike,
     ArrayLike2,
     ArrayLike3,
+    NDArray,
+    Union,
+    List,
+    Tuple,
     R2,
     R3,
     R4,
+    Iterator,
+    Tuple,
+    Self,
+    cast,
 )
-from typing import Optional, Tuple, Union, List, Iterator, cast
-from numpy.typing import NDArray
 
 _eps = np.finfo(np.float64).eps
 
@@ -1268,7 +1274,7 @@ 
Source code for spatialmath.geom2d
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/geom3d.html b/_modules/spatialmath/geom3d.html
index 4f26601e..66315da5 100644
--- a/_modules/spatialmath/geom3d.html
+++ b/_modules/spatialmath/geom3d.html
@@ -86,23 +86,9 @@ 
Source code for spatialmath.geom3d
 from collections import namedtuple
 import matplotlib.pyplot as plt
 import spatialmath.base as base
-from spatialmath.base.types import (
-    ArrayLike,
-    ArrayLike3,
-    ArrayLike4,
-    ArrayLike6,
-    R3,
-    R6,
-    R3x3,
-    R4x4,
-    Points3,
-    Rn,
-)
+from spatialmath.base.types import *
 from spatialmath.baseposelist import BasePoseList
 import warnings
-from typing import Union, Tuple, Optional, List, cast, overload
-from typing_extensions import Self
-from numpy.typing import NDArray
 
 _eps = np.finfo(np.float64).eps
 
@@ -345,10 +331,12 @@ 
Source code for spatialmath.geom3d
     __array_ufunc__ = None  # allow pose matrices operators with NumPy values
 
     @overload
-    def __init__(self, v: ArrayLike3, w: ArrayLike3): ...
+    def __init__(self, v: ArrayLike3, w: ArrayLike3):
+        ...
 
     @overload
-    def __init__(self, v: ArrayLike6): ...
+    def __init__(self, v: ArrayLike6):
+        ...
 
 
[docs]    def __init__(self, v=None, w=None, check=True):
         """
@@ -1525,7 +1513,7 @@ 
Source code for spatialmath.geom3d
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/pose2d.html b/_modules/spatialmath/pose2d.html
index 98e459c1..2f1bc80e 100644
--- a/_modules/spatialmath/pose2d.html
+++ b/_modules/spatialmath/pose2d.html
@@ -732,7 +732,7 @@ 
Source code for spatialmath.pose2d
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/pose3d.html b/_modules/spatialmath/pose3d.html
index 442c7ef0..223f08c7 100644
--- a/_modules/spatialmath/pose3d.html
+++ b/_modules/spatialmath/pose3d.html
@@ -105,28 +105,14 @@ 
Source code for spatialmath.pose3d
 import numpy as np
 
 import spatialmath.base as smb
-from spatialmath.base.types import (
-    ArrayLike,
-    ArrayLike2,
-    ArrayLike3,
-    ArrayLike6,
-    R3,
-    R6,
-    R3x3,
-    R4x4,
-    R6x6,
-    RNx3,
-    SO3Array,
-    SE3Array,
-)
+from spatialmath.base.types import *
 from spatialmath.base.vectors import orthogonalize
 from spatialmath.baseposematrix import BasePoseMatrix
 from spatialmath.pose2d import SE2
+
 from spatialmath.twist import Twist3
-from typing import TYPE_CHECKING, List, Tuple, Union, overload, Optional, cast
-from typing_extensions import Self
-from numpy.typing import NDArray
 
+from typing import TYPE_CHECKING
 if TYPE_CHECKING:
     from spatialmath.quaternion import UnitQuaternion
 
@@ -146,22 +132,28 @@ 
Source code for spatialmath.pose3d
     """
 
     @overload
-    def __init__(self): ...
+    def __init__(self):
+        ...
 
     @overload
-    def __init__(self, arg: SO3, *, check=True): ...
+    def __init__(self, arg: SO3, *, check=True):
+        ...
 
     @overload
-    def __init__(self, arg: SE3, *, check=True): ...
+    def __init__(self, arg: SE3, *, check=True):
+        ...
 
     @overload
-    def __init__(self, arg: SO3Array, *, check=True): ...
+    def __init__(self, arg: SO3Array, *, check=True):
+        ...
 
     @overload
-    def __init__(self, arg: List[SO3Array], *, check=True): ...
+    def __init__(self, arg: List[SO3Array], *, check=True):
+        ...
 
     @overload
-    def __init__(self, arg: List[Union[SO3, SO3Array]], *, check=True): ...
+    def __init__(self, arg: List[Union[SO3, SO3Array]], *, check=True):
+        ...
 
 
[docs]    def __init__(self, arg=None, *, check=True):
         """
@@ -427,7 +419,7 @@ 
Source code for spatialmath.pose3d
         """
         theta, v = smb.tr2angvec(self.R)
         return theta * v

-
+    
     # ------------------------------------------------------------------------ #
 
 
[docs]    @staticmethod
@@ -567,11 +559,13 @@ 
Source code for spatialmath.pose3d
 
     @overload
     @classmethod
-    def Eul(cls, *angles: float, unit: str = "rad") -> Self: ...
+    def Eul(cls, *angles: float, unit: str = "rad") -> Self:
+        ...
 
     @overload
     @classmethod
-    def Eul(cls, *angles: Union[ArrayLike3, RNx3], unit: str = "rad") -> Self: ...
+    def Eul(cls, *angles: Union[ArrayLike3, RNx3], unit: str = "rad") -> Self:
+        ...
 
 
[docs]    @classmethod
     def Eul(cls, *angles, unit: str = "rad") -> Self:
@@ -620,13 +614,15 @@ 
Source code for spatialmath.pose3d
         *angles: float,
         unit: str = "rad",
         order="zyx",
-    ) -> Self: ...
+    ) -> Self:
+        ...
 
     @overload
     @classmethod
     def RPY(
         cls, *angles: Union[ArrayLike3, RNx3], unit: str = "rad", order="zyx"
-    ) -> Self: ...
+    ) -> Self:
+        ...
 
 
[docs]    @classmethod
     def RPY(cls, *angles, unit="rad", order="zyx"):
@@ -921,22 +917,22 @@ 
Source code for spatialmath.pose3d
 
 
[docs]    def UnitQuaternion(self) -> UnitQuaternion:
         """
-        SO3 as a unit quaternion instance
+            SO3 as a unit quaternion instance
 
-        :return: a unit quaternion representation
-        :rtype: UnitQuaternion instance
+            :return: a unit quaternion representation
+            :rtype: UnitQuaternion instance
 
-        ``R.UnitQuaternion()`` is an ``UnitQuaternion`` instance representing the same rotation
-        as the SO3 rotation ``R``.
+            ``R.UnitQuaternion()`` is an ``UnitQuaternion`` instance representing the same rotation
+            as the SO3 rotation ``R``.
 
-        Example:
+            Example:
 
-        .. runblock:: pycon
+            .. runblock:: pycon
 
-            >>> from spatialmath import SO3
-            >>> SO3.Rz(0.3).UnitQuaternion()
+                >>> from spatialmath import SO3
+                >>> SO3.Rz(0.3).UnitQuaternion()
 
-        """
+            """
         # Function level import to avoid circular dependencies
         from spatialmath import UnitQuaternion
 
@@ -1317,11 +1313,11 @@ 
Source code for spatialmath.pose3d
         """
         if len(self) == 1:
             if order == "zyx":
-                return SE2(self.x, self.y, self.rpy(order=order)[2])
+                return SE2(self.x, self.y, self.rpy(order = order)[2])
             elif order == "xyz":
-                return SE2(self.z, self.y, self.rpy(order=order)[2])
+                return SE2(self.z, self.y, self.rpy(order = order)[2])
             elif order == "yxz":
-                return SE2(self.z, self.x, self.rpy(order=order)[2])
+                return SE2(self.z, self.x, self.rpy(order = order)[2])
         else:
             return SE2([e.yaw_SE2() for e in self])

 
@@ -1639,10 +1635,12 @@ 
Source code for spatialmath.pose3d
         )

 
     @overload
-    def Eul(cls, phi: float, theta: float, psi: float, unit: str = "rad") -> SE3: ...
+    def Eul(cls, phi: float, theta: float, psi: float, unit: str = "rad") -> SE3:
+        ...
 
     @overload
-    def Eul(cls, angles: ArrayLike3, unit: str = "rad") -> SE3: ...
+    def Eul(cls, angles: ArrayLike3, unit: str = "rad") -> SE3:
+        ...
 
 
[docs]    @classmethod
     def Eul(cls, *angles, unit="rad") -> SE3:
@@ -1687,10 +1685,12 @@ 
Source code for spatialmath.pose3d
             return cls([smb.eul2tr(a, unit=unit) for a in angles], check=False)

 
     @overload
-    def RPY(cls, roll: float, pitch: float, yaw: float, unit: str = "rad") -> SE3: ...
+    def RPY(cls, roll: float, pitch: float, yaw: float, unit: str = "rad") -> SE3:
+        ...
 
     @overload
-    def RPY(cls, angles: ArrayLike3, unit: str = "rad") -> SE3: ...
+    def RPY(cls, angles: ArrayLike3, unit: str = "rad") -> SE3:
+        ...
 
 
[docs]    @classmethod
     def RPY(cls, *angles, unit="rad", order="zyx") -> SE3:
@@ -1915,10 +1915,12 @@ 
Source code for spatialmath.pose3d
         return cls(smb.trnorm(smb.delta2tr(d)))

 
     @overload
-    def Trans(cls, x: float, y: float, z: float) -> SE3: ...
+    def Trans(cls, x: float, y: float, z: float) -> SE3:
+        ...
 
     @overload
-    def Trans(cls, xyz: ArrayLike3) -> SE3: ...
+    def Trans(cls, xyz: ArrayLike3) -> SE3:
+        ...
 
 
[docs]    @classmethod
     def Trans(cls, x, y=None, z=None) -> SE3:
@@ -2059,7 +2061,11 @@ 
Source code for spatialmath.pose3d
         return cls(smb.rt2tr(R, t, check=check), check=check)

 
 
[docs]    @classmethod
-    def CopyFrom(cls, T: SE3Array, check: bool = True) -> SE3:
+    def CopyFrom(
+        cls,
+        T: SE3Array,
+        check: bool = True
+    ) -> SE3:
         """
         Create an SE(3) from a 4x4 numpy array that is passed by value.
 
@@ -2176,7 +2182,7 @@ 
Source code for spatialmath.pose3d
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/quaternion.html b/_modules/spatialmath/quaternion.html
index 48aa7f05..2be3daaa 100644
--- a/_modules/spatialmath/quaternion.html
+++ b/_modules/spatialmath/quaternion.html
@@ -2414,7 +2414,7 @@ 
Source code for spatialmath.quaternion
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/spatialvector.html b/_modules/spatialmath/spatialvector.html
index b7f7c6ae..752faee4 100644
--- a/_modules/spatialmath/spatialvector.html
+++ b/_modules/spatialmath/spatialvector.html
@@ -819,7 +819,7 @@ 
Source code for spatialmath.spatialvector
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/_modules/spatialmath/twist.html b/_modules/spatialmath/twist.html
index b65ff078..2686ee2c 100644
--- a/_modules/spatialmath/twist.html
+++ b/_modules/spatialmath/twist.html
@@ -1940,7 +1940,7 @@ 
Source code for spatialmath.twist
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/classes-2d-1.pdf b/classes-2d-1.pdf
index aa4d49b1..a8186fe6 100644
Binary files a/classes-2d-1.pdf and b/classes-2d-1.pdf differ
diff --git a/classes-2d-2.pdf b/classes-2d-2.pdf
index e421557c..8be190b3 100644
Binary files a/classes-2d-2.pdf and b/classes-2d-2.pdf differ
diff --git a/classes-2d-3.pdf b/classes-2d-3.pdf
index 95b4514f..06de1aeb 100644
Binary files a/classes-2d-3.pdf and b/classes-2d-3.pdf differ
diff --git a/classes-2d-4.pdf b/classes-2d-4.pdf
index 353d3448..1b93bf6a 100644
Binary files a/classes-2d-4.pdf and b/classes-2d-4.pdf differ
diff --git a/classes-2d.html b/classes-2d.html
index 069c0a14..fece483e 100644
--- a/classes-2d.html
+++ b/classes-2d.html
@@ -1273,7 +1273,7 @@
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/classes-3d.html b/classes-3d.html
index 58f8495e..b083aa95 100644
--- a/classes-3d.html
+++ b/classes-3d.html
@@ -86,9 +86,7 @@
 
Geometry

 

 

-class Line3(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], w: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])[source]

-

-class Line3(v: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])

+class Line3(v=None, w=None, check=True)[source]
 
Bases: spatialmath.baseposelist.BasePoseList

 

 

@@ -99,7 +97,7 @@
 
n (int, optional) – Number of values, defaults to 1

 

 
Return type

-
Self

+
Self

 

 
Returns

 
pose instance with n default values

@@ -273,9 +271,7 @@
 
 

 

-__init__(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], w: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])[source]

-

-__init__(v: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]])

+__init__(v=None, w=None, check=True)[source]
 
Create a Line3 object

 

 
Parameters

@@ -507,8 +503,8 @@
 

 
Parameters

 
    
-
  • arg (Any) – initial value
    • 
-
  • convertfrom (Tuple) – list of classes to accept and convert from
    • 
+
  • arg (Any) – initial value
    • 
+
  • convertfrom (Tuple) – list of classes to accept and convert from
    • 
 
  • check (bool) – check value is valid, defaults to True
    • 
 

 

@@ -548,7 +544,7 @@
 

 

 
Return type

-
bool

+
bool

@@ -1795,7 +1791,7 @@

n (int, optional) – Number of values, defaults to 1

Return type
-

Self

+

Self

Returns

pose instance with n default values

@@ -2201,8 +2197,8 @@
Parameters
    -

  • arg (Any) – initial value

    • -

  • convertfrom (Tuple) – list of classes to accept and convert from

    • +

  • arg (Any) – initial value

    • +

  • convertfrom (Tuple) – list of classes to accept and convert from

  • check (bool) – check value is valid, defaults to True

@@ -2242,7 +2238,7 @@
Return type
-

bool

+

bool

@@ -3245,7 +3241,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_2d-1.pdf b/func_2d-1.pdf index e167b13f..4fd36dd9 100644 Binary files a/func_2d-1.pdf and b/func_2d-1.pdf differ diff --git a/func_2d.html b/func_2d.html index c2fd1f14..3a180882 100644 --- a/func_2d.html +++ b/func_2d.html @@ -451,9 +451,7 @@
-tradjoint2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-tradjoint2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+tradjoint2(T)[source]

Adjoint matrix in 2D

Parameters
@@ -524,11 +522,7 @@
-transl2(x: float, y: float) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-transl2(x: Union[List, Tuple[float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-transl2(x: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+transl2(x, y=None)[source]

Create SE(2) pure translation, or extract translation from SE(2) matrix

Create a translational SE(2) matrix

@@ -605,9 +599,7 @@
-trexp2(S: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], theta: Optional[float] = None, check: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-trexp2(S: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], theta: Optional[float] = None, check: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+trexp2(S, theta=None, check=True)[source]

Exponential of so(2) or se(2) matrix

Parameters
@@ -697,9 +689,7 @@
-trinterp2(start: Optional[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], end: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], s: float, shortest: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-trinterp2(start: Optional[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], end: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], s: float, shortest: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+trinterp2(start, end, s, shortest=True)[source]

Interpolate SE(2) or SO(2) matrices

Parameters
@@ -811,13 +801,7 @@
-trlog2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], twist: bool = False, check: bool = True, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-trlog2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], twist: bool = False, check: bool = True, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-trlog2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], twist: bool = True, check: bool = True, tol: float = 20) → float
-
-trlog2(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], twist: bool = True, check: bool = True, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+trlog2(T, twist=False, check=True, tol=20)[source]

Logarithm of SO(2) or SE(2) matrix

Parameters
@@ -877,7 +861,7 @@
-trnorm2(R: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
+trnorm2(T)[source]

Normalize an SO(2) or SE(2) matrix

Parameters
@@ -1195,7 +1179,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_2d_graphics-1.pdf b/func_2d_graphics-1.pdf index c5d76521..c49750dc 100644 Binary files a/func_2d_graphics-1.pdf and b/func_2d_graphics-1.pdf differ diff --git a/func_2d_graphics-10.pdf b/func_2d_graphics-10.pdf index df224c98..b71f5f6b 100644 Binary files a/func_2d_graphics-10.pdf and b/func_2d_graphics-10.pdf differ diff --git a/func_2d_graphics-11.pdf b/func_2d_graphics-11.pdf index 3fb332ee..f7aab35f 100644 Binary files a/func_2d_graphics-11.pdf and b/func_2d_graphics-11.pdf differ diff --git a/func_2d_graphics-2.pdf b/func_2d_graphics-2.pdf index d2f26695..cf1128e2 100644 Binary files a/func_2d_graphics-2.pdf and b/func_2d_graphics-2.pdf differ diff --git a/func_2d_graphics-3.pdf b/func_2d_graphics-3.pdf index 331d80a8..bff5b5c8 100644 Binary files a/func_2d_graphics-3.pdf and b/func_2d_graphics-3.pdf differ diff --git a/func_2d_graphics-4.pdf b/func_2d_graphics-4.pdf index 6a65b950..161ad2a1 100644 Binary files a/func_2d_graphics-4.pdf and b/func_2d_graphics-4.pdf differ diff --git a/func_2d_graphics-5.pdf b/func_2d_graphics-5.pdf index 46771483..3842c53a 100644 Binary files a/func_2d_graphics-5.pdf and b/func_2d_graphics-5.pdf differ diff --git a/func_2d_graphics-6.pdf b/func_2d_graphics-6.pdf index 9ce85914..1b98967b 100644 Binary files a/func_2d_graphics-6.pdf and b/func_2d_graphics-6.pdf differ diff --git a/func_2d_graphics-8.hires.png b/func_2d_graphics-8.hires.png index 646bea8a..f31c8d91 100644 Binary files a/func_2d_graphics-8.hires.png and b/func_2d_graphics-8.hires.png differ diff --git a/func_2d_graphics-8.pdf b/func_2d_graphics-8.pdf index a10f7d88..6d267458 100644 Binary files a/func_2d_graphics-8.pdf and b/func_2d_graphics-8.pdf differ diff --git a/func_2d_graphics-8.png b/func_2d_graphics-8.png index b21640af..be292ec8 100644 Binary files a/func_2d_graphics-8.png and b/func_2d_graphics-8.png differ diff --git a/func_2d_graphics-9.hires.png b/func_2d_graphics-9.hires.png index e4625965..3161b235 100644 Binary files a/func_2d_graphics-9.hires.png and b/func_2d_graphics-9.hires.png differ diff --git a/func_2d_graphics-9.pdf b/func_2d_graphics-9.pdf index 4649bf05..8833fc54 100644 Binary files a/func_2d_graphics-9.pdf and b/func_2d_graphics-9.pdf differ diff --git a/func_2d_graphics-9.png b/func_2d_graphics-9.png index 846f0d69..f2b24dde 100644 Binary files a/func_2d_graphics-9.png and b/func_2d_graphics-9.png differ diff --git a/func_2d_graphics.html b/func_2d_graphics.html index 2d7a5394..a828ccb8 100644 --- a/func_2d_graphics.html +++ b/func_2d_graphics.html @@ -571,7 +571,7 @@

2D graphics

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_3d-1.pdf b/func_3d-1.pdf index b9d571f8..ffce7cb8 100644 Binary files a/func_3d-1.pdf and b/func_3d-1.pdf differ diff --git a/func_3d.html b/func_3d.html index c95631f3..2d4a1b10 100644 --- a/func_3d.html +++ b/func_3d.html @@ -311,9 +311,7 @@
-eul2r(phi: float, theta: float, psi: float, unit: str = 'rad') → SO3Array[source]
-
-eul2r(phi: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], theta: None = None, psi: None = None, unit: str = 'rad') → SO3Array
+eul2r(phi, theta=None, psi=None, unit='rad')[source]

Create an SO(3) rotation matrix from Euler angles

Parameters
@@ -365,9 +363,7 @@
-eul2tr(phi: float, theta: float, psi: float, unit: str = 'rad') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-eul2tr(phi: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], theta=None, psi=None, unit: str = 'rad') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+eul2tr(phi, theta=None, psi=None, unit='rad')[source]

Create an SE(3) pure rotation matrix from Euler angles

Parameters
@@ -875,13 +871,7 @@
-rotvelxform(Γ: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], inverse: bool = False, full: bool = False, representation='rpy/xyz') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-rotvelxform(Γ: SO3Array, inverse: bool = False, full: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-rotvelxform(Γ: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], inverse: bool = False, full: bool = True, representation='rpy/xyz') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-rotvelxform(Γ: SO3Array, inverse: bool = False, full: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+rotvelxform(Γ, inverse=False, full=False, representation='rpy/xyz')[source]

Rotational velocity transformation

Parameters
@@ -971,9 +961,7 @@
-rotvelxform_inv_dot(Γ: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], Γd: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], full: bool = False, representation: str = 'rpy/xyz') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-rotvelxform_inv_dot(Γ: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], Γd: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], full: bool = True, representation: str = 'rpy/xyz') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+rotvelxform_inv_dot(Γ, Γd, full=False, representation='rpy/xyz')[source]

Derivative of angular velocity transformation

Parameters
@@ -1246,9 +1234,7 @@
-rpy2r(roll: float, pitch: float, yaw: float, *, unit: str = "'rad'", order: str = "'zyx'") → SO3Array[source]
-
-rpy2r(roll: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], pitch: None = None, yaw: None = None, *, unit: str = "'rad'", order: str = "'zyx'") → SO3Array
+rpy2r(roll, pitch=None, yaw=None, *, unit='rad', order='zyx')[source]

Create an SO(3) rotation matrix from roll-pitch-yaw angles

Parameters
@@ -1316,9 +1302,7 @@
-rpy2tr(roll: float, pitch: float, yaw: float, unit: str = 'rad', order: str = 'zyx') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-rpy2tr(roll: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], pitch: None = None, yaw: None = None, unit: str = 'rad', order: str = 'zyx') → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+rpy2tr(roll, pitch=None, yaw=None, unit='rad', order='zyx')[source]

Create an SE(3) rotation matrix from roll-pitch-yaw angles

Parameters
@@ -1390,9 +1374,7 @@
-tr2adjoint(T: SO3Array) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-tr2adjoint(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+tr2adjoint(T)[source]

Adjoint matrix

Parameters
@@ -1834,11 +1816,7 @@
-transl(x: float, y: float, z: float) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-transl(x: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-transl(x: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+transl(x, y=None, z=None)[source]

Create SE(3) pure translation, or extract translation from SE(3) matrix

Create a translational SE(3) matrix

@@ -1928,13 +1906,7 @@
-trexp(S: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], theta: Optional[float] = None, check: bool = True) → SO3Array[source]
-
-trexp(S: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], theta: Optional[float] = None, check: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-trexp(S: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], theta: Optional[float] = None, check=True) → SO3Array
-
-trexp(S: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], theta: Optional[float] = None, check=True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+trexp(S, theta=None, check=True)[source]

Exponential of se(3) or so(3) matrix

Parameters
@@ -2032,9 +2004,7 @@
-trinterp(start: Optional[SO3Array], end: SO3Array, s: float, shortest: bool = True) → SO3Array[source]
-
-trinterp(start: Optional[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], end: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], s: float, shortest: bool = True) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+trinterp(start, end, s, shortest=True)[source]

Interpolate SE(3) matrices

Parameters
@@ -2154,13 +2124,7 @@
-trlog(T: SO3Array, check: bool = True, twist: bool = False, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-trlog(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = True, twist: bool = False, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
-
-trlog(T: SO3Array, check: bool = True, twist: bool = True, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
-
-trlog(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = True, twist: bool = True, tol: float = 20) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+trlog(T, check=True, twist=False, tol=20)[source]

Logarithm of SO(3) or SE(3) matrix

Parameters
@@ -2221,7 +2185,7 @@
-trnorm(R: SO3Array) → SO3Array[source]
+trnorm(T)[source]

Normalize an SO(3) or SE(3) matrix

Parameters
@@ -2814,7 +2778,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_3d_graphics-1.pdf b/func_3d_graphics-1.pdf index 0aa7712e..fa9e8dd4 100644 Binary files a/func_3d_graphics-1.pdf and b/func_3d_graphics-1.pdf differ diff --git a/func_3d_graphics-2.hires.png b/func_3d_graphics-2.hires.png index b707e126..1f59796e 100644 Binary files a/func_3d_graphics-2.hires.png and b/func_3d_graphics-2.hires.png differ diff --git a/func_3d_graphics-2.pdf b/func_3d_graphics-2.pdf index e29156f8..22df3b88 100644 Binary files a/func_3d_graphics-2.pdf and b/func_3d_graphics-2.pdf differ diff --git a/func_3d_graphics-2.png b/func_3d_graphics-2.png index 6b156418..a4c4d8e4 100644 Binary files a/func_3d_graphics-2.png and b/func_3d_graphics-2.png differ diff --git a/func_3d_graphics-3.pdf b/func_3d_graphics-3.pdf index 1f9af356..9aac7941 100644 Binary files a/func_3d_graphics-3.pdf and b/func_3d_graphics-3.pdf differ diff --git a/func_3d_graphics-4.pdf b/func_3d_graphics-4.pdf index 8c3de2a5..cd133cbd 100644 Binary files a/func_3d_graphics-4.pdf and b/func_3d_graphics-4.pdf differ diff --git a/func_3d_graphics-5.pdf b/func_3d_graphics-5.pdf index 9a1ff8d3..d1c69ae9 100644 Binary files a/func_3d_graphics-5.pdf and b/func_3d_graphics-5.pdf differ diff --git a/func_3d_graphics-6.pdf b/func_3d_graphics-6.pdf index 427b4142..aa7d3b3c 100644 Binary files a/func_3d_graphics-6.pdf and b/func_3d_graphics-6.pdf differ diff --git a/func_3d_graphics.html b/func_3d_graphics.html index 67ea6261..2cf9f580 100644 --- a/func_3d_graphics.html +++ b/func_3d_graphics.html @@ -399,7 +399,7 @@

3D graphics

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_animation.html b/func_animation.html index 4db78db0..a9c70ccb 100644 --- a/func_animation.html +++ b/func_animation.html @@ -646,7 +646,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_args.html b/func_args.html index dbd4d1fb..b0a56558 100644 --- a/func_args.html +++ b/func_args.html @@ -102,7 +102,7 @@

Argument checking

Utility functions for testing and converting passed arguments. Used in all -spatialmath functions and classes to provides for flexibility in argument types +spatialmath functions and classes to provides for flexibility in argument types that can be passed.

@@ -311,13 +311,7 @@
-getvector(v: Union[float, List[float], Tuple[float, ...], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], dim: Optional[int] = None, out: str = 'array', dtype: Union[numpy.dtype, None, type, numpy.typing._dtype_like._SupportsDType[numpy.dtype], str, Tuple[Any, int], Tuple[Any, Union[typing_extensions.SupportsIndex, Sequence[typing_extensions.SupportsIndex]]], List[Any], numpy.typing._dtype_like._DTypeDict, Tuple[Any, Any]] = np.float64) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-getvector(v: Union[float, List[float], Tuple[float, ...], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], dim: Optional[int] = None, out: str = 'list', dtype: Union[numpy.dtype, None, type, numpy.typing._dtype_like._SupportsDType[numpy.dtype], str, Tuple[Any, int], Tuple[Any, Union[typing_extensions.SupportsIndex, Sequence[typing_extensions.SupportsIndex]]], List[Any], numpy.typing._dtype_like._DTypeDict, Tuple[Any, Any]] = np.float64) → List[float]
-
-getvector(v: Tuple[float, ...], dim: Optional[int] = None, out: str = 'sequence', dtype: Union[numpy.dtype, None, type, numpy.typing._dtype_like._SupportsDType[numpy.dtype], str, Tuple[Any, int], Tuple[Any, Union[typing_extensions.SupportsIndex, Sequence[typing_extensions.SupportsIndex]]], List[Any], numpy.typing._dtype_like._DTypeDict, Tuple[Any, Any]] = np.float64) → Tuple[float, ...]
-
-getvector(v: List[float], dim: Optional[int] = None, out: str = 'sequence', dtype: Union[numpy.dtype, None, type, numpy.typing._dtype_like._SupportsDType[numpy.dtype], str, Tuple[Any, int], Tuple[Any, Union[typing_extensions.SupportsIndex, Sequence[typing_extensions.SupportsIndex]]], List[Any], numpy.typing._dtype_like._DTypeDict, Tuple[Any, Any]] = np.float64) → List[float]
+getvector(v, dim=None, out='array', dtype=<class 'numpy.float64'>)[source]

Return a vector value

Parameters
@@ -728,7 +722,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_graphics.html b/func_graphics.html index e706686b..1b553d33 100644 --- a/func_graphics.html +++ b/func_graphics.html @@ -125,7 +125,7 @@

Graphics and animation

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_nd.html b/func_nd.html index 914a7473..bdcba776 100644 --- a/func_nd.html +++ b/func_nd.html @@ -481,9 +481,7 @@
-r2t(R: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-r2t(R: SO3Array, check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+r2t(R, check=False)[source]

Convert SO(n) to SE(n)

Parameters
@@ -529,9 +527,7 @@
-rt2tr(R: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], t: Union[List, Tuple[float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], check=False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-rt2tr(R: SO3Array, t: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], check=False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+rt2tr(R, t, check=False)[source]

Convert SO(n) and translation to SE(n)

Parameters
@@ -576,9 +572,7 @@
-skew(v: float) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-skew(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+skew(v)[source]

Create skew-symmetric metrix from vector

Parameters
@@ -628,9 +622,7 @@
-skewa(v: Union[List, Tuple[float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-skewa(v: Union[List, Tuple[float, float, float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+skewa(v)[source]

Create augmented skew-symmetric metrix from vector

Parameters
@@ -683,9 +675,7 @@
-t2r(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-t2r(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → SO3Array
+t2r(T, check=False)[source]

Convert SE(n) to SO(n)

Parameters
@@ -734,9 +724,7 @@
-tr2rt(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check=False) → Tuple[numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], numpy.ndarray[Any, numpy.dtype[numpy.floating]]][source]
-
-tr2rt(T: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check=False) → Tuple[SO3Array, numpy.ndarray[Any, numpy.dtype[numpy.floating]]]
+tr2rt(T, check=False)[source]

Convert SE(n) to SO(n) and translation

Parameters
@@ -784,9 +772,7 @@
-vex(s: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.floating]][source]
-
-vex(s: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+vex(s, check=False)[source]

Convert skew-symmetric matrix to vector

Parameters
@@ -848,9 +834,7 @@
-vexa(Omega: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.floating]][source]
-
-vexa(Omega: numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]], check: bool = False) → numpy.ndarray[Any, numpy.dtype[numpy.floating]]
+vexa(Omega, check=False)[source]

Convert skew-symmetric matrix to vector

Parameters
@@ -926,7 +910,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_numeric-1.pdf b/func_numeric-1.pdf index 43d3a964..c49920b3 100644 Binary files a/func_numeric-1.pdf and b/func_numeric-1.pdf differ diff --git a/func_numeric-2.pdf b/func_numeric-2.pdf index 62106656..7432a3e5 100644 Binary files a/func_numeric-2.pdf and b/func_numeric-2.pdf differ diff --git a/func_numeric-3.pdf b/func_numeric-3.pdf index b55f352e..76d49a62 100644 Binary files a/func_numeric-3.pdf and b/func_numeric-3.pdf differ diff --git a/func_numeric.html b/func_numeric.html index f36ca7dc..3d9a7e8e 100644 --- a/func_numeric.html +++ b/func_numeric.html @@ -130,13 +130,13 @@ 
>>> from spatialmath.base import array2str
 >>> import numpy as np
 >>> array2str(np.random.rand(2,2))
-'[ 0.857, 0.499 | 0.5, 0.0367 ]'
+'[ 0.152, 0.924 | 0.317, 0.421 ]'
 >>> array2str(np.random.rand(2,2), rowsep="; ")  # MATLAB-like
-'[ 0.805, 0.373; 0.441, 0.168 ]'
+'[ 0.633, 0.654; 0.938, 0.595 ]'
 >>> array2str(np.random.rand(3,))
-'[ 0.781, 0.545, 0.628 ]'
+'[ 0.236, 0.849, 0.546 ]'
 >>> array2str(np.random.rand(3,1))
-'[ 0.915 | 0.965 | 0.949 ]'
+'[ 0.888 | 0.309 | 0.603 ]'
@@ -357,18 +357,18 @@ an SE(N) matrix and the derivative is converted to a colun vector.

Example:

-
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py", line 92, in rotx
+
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py", line 82, in rotx
     theta = getunit(theta, unit, dim=0)
-  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py", line 568, in getunit
+  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py", line 575, in getunit
     raise ValueError("for dim==0 input must be a scalar")
 ValueError: for dim==0 input must be a scalar
 Traceback (most recent call last):
   File "<input>", line 1, in <module>
-  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/numeric.py", line 65, in numjac
+  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/numeric.py", line 59, in numjac
     J0 = f(x)
-  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py", line 92, in rotx
+  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/transforms3d.py", line 82, in rotx
     theta = getunit(theta, unit, dim=0)
-  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py", line 568, in getunit
+  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/spatialmath/base/argcheck.py", line 575, in getunit
     raise ValueError("for dim==0 input must be a scalar")
 ValueError: for dim==0 input must be a scalar
 

@@ -434,7 +434,7 @@
 
   

     
© Copyright 2020-, Peter Corke..
-      Last updated on 26-Jun-2024.
+      Last updated on 23-Jul-2024.
       

   

 
diff --git a/func_quat.html b/func_quat.html
index bf61149e..e28f1cb0 100644
--- a/func_quat.html
+++ b/func_quat.html
@@ -389,9 +389,7 @@
 
 

 

-qisequal(q1: Union[List, Tuple[float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], q2: Union[List, Tuple[float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], tol: float = 20, unitq: Optional[bool] = False) → bool[source]

-

-qisequal(q1: Union[List, Tuple[float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], q2: Union[List, Tuple[float, float, float, float], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], tol: float = 20, unitq: Optional[bool] = True) → bool

+qisequal(q1, q2, tol=20, unitq=False)[source]
 
Test if quaternions are equal

 

 
Parameters

@@ -624,7 +622,7 @@
  1.0000 <  2.0000,  3.0000,  4.0000 >
 >>> q = qrand()   # a unit quaternion
 >>> qprint(q, delim=('<<', '>>'))
- 0.5170 <<  0.3377, -0.1088,  0.7790 >>
+-0.4603 <<  0.0424, -0.8376, -0.2911 >>
@@ -705,7 +703,7 @@ considered equivalent to a random SO(3) rotation.

>>> from spatialmath.base import qrand, qprint
 >>> qprint(qrand())
--0.5585 < -0.6229, -0.4615,  0.2951 >
+ 0.5431 <  0.6420,  0.5389, -0.0491 >
@@ -995,7 +993,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_symbolic.html b/func_symbolic.html index d077686c..3266a288 100644 --- a/func_symbolic.html +++ b/func_symbolic.html @@ -106,9 +106,7 @@ supported.

-cos(theta: float) → float[source]
-
-cos(theta: sympy.core.symbol.Symbol) → sympy.core.symbol.Symbol
+cos(theta)[source]

Generalized cosine function

Parameters
@@ -303,9 +301,7 @@
-sin(theta: float) → float[source]
-
-sin(theta: sympy.core.symbol.Symbol) → sympy.core.symbol.Symbol
+sin(theta)[source]

Generalized sine function

Parameters
@@ -335,9 +331,7 @@
-sqrt(theta: float) → float[source]
-
-sqrt(theta: sympy.core.symbol.Symbol) → sympy.core.symbol.Symbol
+sqrt(v)[source]

Generalized sqrt function

Parameters
@@ -415,9 +409,7 @@
-tan(theta: float) → float[source]
-
-tan(theta: sympy.core.symbol.Symbol) → sympy.core.symbol.Symbol
+tan(theta)[source]

Generalized tangent function

Parameters
@@ -486,7 +478,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/func_vector.html b/func_vector.html index 94aa1636..c7d0f6a3 100644 --- a/func_vector.html +++ b/func_vector.html @@ -106,9 +106,7 @@ tuple, numpy array, numpy row vector or numpy column vector.

-angdiff(a: Union[float, List[float], Tuple[float, ...], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]], b: Union[float, List[float], Tuple[float, ...], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]][source]
-
-angdiff(a: Union[float, List[float], Tuple[float, ...], numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]]) → numpy.ndarray[Any, numpy.dtype[numpy.typing._generic_alias.ScalarType]]
+angdiff(a, b=None)[source]

Angular difference

Parameters
@@ -1000,7 +998,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/functions.html b/functions.html index 722a5202..94ce8f68 100644 --- a/functions.html +++ b/functions.html @@ -130,7 +130,7 @@

Function reference

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/genindex.html b/genindex.html index 047ed16e..bf9f2207 100644 --- a/genindex.html +++ b/genindex.html @@ -2643,7 +2643,7 @@

Z

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/index.html b/index.html index 75e64115..d8c4e8d8 100644 --- a/index.html +++ b/index.html @@ -134,7 +134,7 @@

Spatial Maths for Python

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/indices.html b/indices.html index 64d69e58..39aa1589 100644 --- a/indices.html +++ b/indices.html @@ -103,7 +103,7 @@

Indices

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/intro.html b/intro.html index b3898008..5e74c07a 100644 --- a/intro.html +++ b/intro.html @@ -452,7 +452,7 @@

Displaying values
>>> from spatialmath import *
 >>> X = SE3.Rand()
 >>> _ = X.printline()
-t = -0.801, -0.783, -0.239; rpy/zyx = 122°, 22.7°, 23.3°
+t = -0.758, 0.44, 0.299; rpy/zyx = 89.8°, 17.5°, 54.2°

The classes SE3, SO3, SE2 and SO2 can provide colorized text output to the console:

@@ -1211,7 +1211,7 @@

Creating a MATLAB-like environment in Python

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/modules.html b/modules.html index 04f24985..3d3dd792 100644 --- a/modules.html +++ b/modules.html @@ -154,7 +154,7 @@

spatialmath

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/py-modindex.html b/py-modindex.html index a4053503..1fadcb64 100644 --- a/py-modindex.html +++ b/py-modindex.html @@ -165,7 +165,7 @@

Python Module Index

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/search.html b/search.html index 3792b7a1..8317aeb7 100644 --- a/search.html +++ b/search.html @@ -98,7 +98,7 @@

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

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reference","Support"],titleterms:{"2":[3,5,6],"2d":[0,1,2,4,26,27,43],"3":[9,12,14],"3d":[8,28,29,43],"6d":43,"class":[41,43],"function":[34,38],acceler:16,anim:[30,32],argument:31,capabl:41,check:31,comput:36,constructor:41,creat:41,displai:41,dual:[7,13],ellips:0,environ:41,f6:17,forc:18,geometri:[24,25,43],graphic:[27,29,32,41],group:41,implement:41,indic:40,inertia:19,introduct:41,level:41,like:41,line:[1,2,8],list:41,low:41,m6:20,math:[39,41],matlab:41,matrix:[3,5,9,12],momentum:21,nd:33,non:41,numer:34,object:41,oper:41,orient:43,plane:11,polgon:4,pose:[41,43],python:[39,41],quaternion:[7,10,13,15,35],refer:[38,43],relationship:41,se:[5,6,12,14],segment:2,so:[3,9],space:43,spatial:[16,17,18,19,20,21,22,23,39,41,43],spatialmath:42,support:[30,41,43,44],symbol:[36,41],todo:[3,5,9,12],tool:41,transform:[26,28,33,41],twist:[6,14],unit:[10,13],util:34,valu:41,vector:[22,37,41,43],veloc:23}}) \ No newline at end of file diff --git a/spatialmath.html b/spatialmath.html index 7106c66b..e88115f3 100644 --- a/spatialmath.html +++ b/spatialmath.html @@ -249,7 +249,7 @@

Geometry in 2D

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.

diff --git a/support.html b/support.html index dd9acd5c..85b3348b 100644 --- a/support.html +++ b/support.html @@ -97,7 +97,7 @@

Support

© Copyright 2020-, Peter Corke.. - Last updated on 26-Jun-2024. + Last updated on 23-Jul-2024.