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<section id="spatial-velocity">
<h1>Spatial velocity<a class="headerlink" href="#spatial-velocity" title="Permalink to this heading"></a></h1>
<dl class="py class">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">SpatialVelocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/spatialvector.html#SpatialVelocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="6d_m6.html#spatialmath.spatialvector.SpatialM6" title="spatialmath.spatialvector.SpatialM6"><code class="xref py py-class docutils literal notranslate"><span class="pre">SpatialM6</span></code></a></p>
<p>Spatial velocity class</p>
<p>Concrete subclass of SpatialM6 that represents the
translational and rotational velocity of a rigid-body moving in 3D space.</p>
<div class="graphviz"><img src="_images/inheritance-a9ad2b033767e654ec499509ce4aa468d1ef6f55.png" alt="Inheritance diagram of spatialmath.spatialvector.SpatialVelocity" usemap="#inheritance257570dc9b" class="inheritance graphviz" /></div>
<map id="inheritance257570dc9b" name="inheritance257570dc9b">
<area shape="rect" id="node5" href="6d_spatial.html#spatialmath.spatialvector.SpatialVector" target="_top" title="Spatial 6-vector abstract superclass" alt="" coords="284,31,392,56"/>
<area shape="rect" id="node4" href="6d_m6.html#spatialmath.spatialvector.SpatialM6" target="_top" title="Spatial 6-vector abstract motion superclass" alt="" coords="440,31,527,56"/>
<area shape="rect" id="node6" href="#spatialmath.spatialvector.SpatialVelocity" target="_top" title="Spatial velocity class" alt="" coords="575,31,693,56"/>
</map><dl class="field-list simple">
<dt class="field-odd">Seealso<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="6d_m6.html#spatialmath.spatialvector.SpatialM6" title="spatialmath.spatialvector.SpatialM6"><code class="xref py py-func docutils literal notranslate"><span class="pre">SpatialM6()</span></code></a>, <a class="reference internal" href="6d_acceleration.html#spatialmath.spatialvector.SpatialAcceleration" title="spatialmath.spatialvector.SpatialAcceleration"><code class="xref py py-func docutils literal notranslate"><span class="pre">SpatialAcceleration()</span></code></a></p>
</dd>
</dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.Alloc">
<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Alloc</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">n</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.Alloc" title="Permalink to this definition"></a></dt>
<dd><p>Construct an instance with N default values (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>n</strong> (<em>int</em><em>, </em><em>optional</em>) – Number of values, defaults to 1</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-class docutils literal notranslate"><span class="pre">Self</span></code></span></p>
</dd>
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>pose instance with <code class="docutils literal notranslate"><span class="pre">n</span></code> default values</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">X.Alloc(N)</span></code> creates an instance of the pose class <code class="docutils literal notranslate"><span class="pre">X</span></code> with <code class="docutils literal notranslate"><span class="pre">N</span></code>
default values, ie. <code class="docutils literal notranslate"><span class="pre">len(X)</span></code> will be <code class="docutils literal notranslate"><span class="pre">N</span></code>.</p>
<p><code class="docutils literal notranslate"><span class="pre">X</span></code> can be considered a vector of pose objects, and those elements
can be referenced <code class="docutils literal notranslate"><span class="pre">X[i]</span></code> or assigned to <code class="docutils literal notranslate"><span class="pre">X[i]</span> <span class="pre">=</span> <span class="pre">...</span></code>.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>The default value depends on the pose class and is the result
of the empty constructor. For <code class="docutils literal notranslate"><span class="pre">SO2</span></code>,
<code class="docutils literal notranslate"><span class="pre">SE2</span></code>, <code class="docutils literal notranslate"><span class="pre">SO3</span></code>, <code class="docutils literal notranslate"><span class="pre">SE3</span></code> it is an identity matrix, for a
twist class <code class="docutils literal notranslate"><span class="pre">Twist2</span></code> or <code class="docutils literal notranslate"><span class="pre">Twist3</span></code> it is a zero vector,
for a <code class="docutils literal notranslate"><span class="pre">UnitQuaternion</span></code> or <code class="docutils literal notranslate"><span class="pre">Quaternion</span></code> it is a zero
vector.</p>
</div>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">10</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.Empty">
<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Empty</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.Empty" title="Permalink to this definition"></a></dt>
<dd><p>Construct an empty instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-class docutils literal notranslate"><span class="pre">Self</span></code></span></p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>pose instance with zero values</p>
</dd>
</dl>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Empty</span><span class="p">()</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">0</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.__add__">
<span class="sig-name descname"><span class="pre">__add__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">right</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.__add__" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded <code class="docutils literal notranslate"><span class="pre">*</span></code> operator (superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>sum of spatial vectors</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>SpatialVector subclass instance</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>TypeError</strong> – attempting to add SpatialVectors of different subclass</p></li>
<li><p><strong>ValueErrror</strong> – attempting to add SpatialVectors with different numbers of values</p></li>
</ul>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">v1</span> <span class="pre">+</span> <span class="pre">v2</span></code> is a spatial vector of the same type as <code class="docutils literal notranslate"><span class="pre">v1</span></code> and <code class="docutils literal notranslate"><span class="pre">v2</span></code> whose value is
the element-wise sum of <code class="docutils literal notranslate"><span class="pre">v1</span></code> and <code class="docutils literal notranslate"><span class="pre">v2</span></code>. If both are arrays of spatial vectors V1 (1xN) and
V2 (1xN) the result is an array (1xN).</p>
<dl class="field-list simple">
<dt class="field-odd">Seealso<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.spatialvector.SpatialVelocity.__sub__" title="spatialmath.spatialvector.SpatialVelocity.__sub__"><code class="xref py py-func docutils literal notranslate"><span class="pre">__sub__()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.__init__">
<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/spatialvector.html#SpatialVelocity.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.__init__" title="Permalink to this definition"></a></dt>
<dd><p>Create a new spatial vector (abstract superclass)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>value</strong> – Value of the</p>
</dd>
</dl>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">SpatialVector(vec)</span></code> is a spatial vector constructed from the 6-element array-like <code class="docutils literal notranslate"><span class="pre">vec</span></code></p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">SpatialVector([V1,</span> <span class="pre">V2,</span> <span class="pre">...</span> <span class="pre">VN])</span></code> is a spatial vector array with N elements, constructed from the 6-element
array-like values <code class="docutils literal notranslate"><span class="pre">Vi</span></code></p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">SpatialVector(A)</span></code> is a spatial vector array with N elements, constructed from the columns of the 6xN
array <code class="docutils literal notranslate"><span class="pre">A</span></code>.</p></li>
</ul>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.__sub__">
<span class="sig-name descname"><span class="pre">__sub__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">right</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.__sub__" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded <code class="docutils literal notranslate"><span class="pre">-</span></code> operator (superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>difference of spatial vectors</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>SpatialVector subclass instance</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>TypeError</strong> – attempting to subtract SpatialVectors of different subclass</p></li>
<li><p><strong>ValueErrror</strong> – attempting to subtract SpatialVectors with different numbers of values</p></li>
</ul>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">v1</span> <span class="pre">-</span> <span class="pre">v2</span></code> is a spatial vector of the same type as <code class="docutils literal notranslate"><span class="pre">v1</span></code> and <code class="docutils literal notranslate"><span class="pre">v2</span></code>
whose value is the element-wise difference of <code class="docutils literal notranslate"><span class="pre">v1</span></code> and <code class="docutils literal notranslate"><span class="pre">v2</span></code>. If
both are arrays of spatial vectors V1 (1xN) and V2 (1xN) the result is
an array (1xN).</p>
<dl class="field-list simple">
<dt class="field-odd">Seealso<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.spatialvector.SpatialVelocity.__add__" title="spatialmath.spatialvector.SpatialVelocity.__add__"><code class="xref py py-func docutils literal notranslate"><span class="pre">__add__()</span></code></a>, <code class="xref py py-func docutils literal notranslate"><span class="pre">__neg__()</span></code></p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.append">
<span class="sig-name descname"><span class="pre">append</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">item</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.append" title="Permalink to this definition"></a></dt>
<dd><p>Append a value to an instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>x</strong> (<a class="reference internal" href="3d_quaternion.html#spatialmath.quaternion.Quaternion" title="spatialmath.quaternion.Quaternion"><em>Quaternion</em></a><em> or </em><em>UnitQuaternion instance</em>) – the value to append</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><strong>ValueError</strong> – incorrect type of appended object</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></span></p>
</dd>
</dl>
<p>Appends the argument to the object’s internal list of values.</p>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">10</span>
<span class="gp">>>> </span><span class="n">x</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">X</span><span class="p">())</span> <span class="c1"># append to the list</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">11</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.clear">
<span class="sig-name descname"><span class="pre">clear</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">None</span> <span class="pre">--</span> <span class="pre">remove</span> <span class="pre">all</span> <span class="pre">items</span> <span class="pre">from</span> <span class="pre">S</span></span></span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.clear" title="Permalink to this definition"></a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.cross">
<span class="sig-name descname"><span class="pre">cross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.cross" title="Permalink to this definition"></a></dt>
<dd><p>Spatial vector cross product</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>other</strong> (<em>SpatialM6 instance</em>) – spatial motion vector</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>cross product of spatial vectors</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>SpatialF6 instance if <code class="docutils literal notranslate"><span class="pre">other</span></code> is SpatialF6 instance</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>SpatialM6 instance if <code class="docutils literal notranslate"><span class="pre">other</span></code> is SpatialM6 instance</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">v1.cross(v2)</span></code> is a spatial vector cross product whose result depends
on the SpatialVector subclass of <code class="docutils literal notranslate"><span class="pre">v2</span></code>:</p>
<ul class="simple">
<li><p>if <span class="math notranslate nohighlight">\(\vec{m} \in \mat{M}^6\)</span> is a spatial motion vector fixed in a
body with velocity <span class="math notranslate nohighlight">\(\vec{v}\)</span> then
<span class="math notranslate nohighlight">\(\dvec{m} = \vec{v} \times \vec{m}\)</span> or the <code class="docutils literal notranslate"><span class="pre">crm()</span></code> function.</p></li>
<li><p>if <span class="math notranslate nohighlight">\(\vec{f} \in \mat{F}^6\)</span> is a spatial force vector fixed in a
body with velocity <span class="math notranslate nohighlight">\(\vec{v}\)</span> then
<span class="math notranslate nohighlight">\(\dvec{f} = \vec{v} \times^* \vec{f}\)</span> or the <code class="docutils literal notranslate"><span class="pre">crm()</span></code> function.</p></li>
</ul>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.extend">
<span class="sig-name descname"><span class="pre">extend</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">iterable</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.extend" title="Permalink to this definition"></a></dt>
<dd><p>Extend sequence of values in an instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>x</strong> (<em>instance</em><em> of </em><em>same type</em>) – the value to extend</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><strong>ValueError</strong> – incorrect type of appended object</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></span></p>
</dd>
</dl>
<p>Appends the argument’s values to the object’s internal list of values.</p>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">10</span>
<span class="gp">>>> </span><span class="n">x</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">5</span><span class="p">))</span> <span class="c1"># extend the list</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">15</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.insert">
<span class="sig-name descname"><span class="pre">insert</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">i</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">item</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.insert" title="Permalink to this definition"></a></dt>
<dd><p>Insert a value to an instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>i</strong> (<em>int</em>) – element to insert value before</p></li>
<li><p><strong>item</strong> (<em>instance</em><em> of </em><em>same type</em>) – the value to insert</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><strong>ValueError</strong> – incorrect type of inserted value</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><span class="sphinx_autodoc_typehints-type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></span></p>
</dd>
</dl>
<p>Inserts the argument into the object’s internal list of values.</p>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">10</span>
<span class="gp">>>> </span><span class="n">x</span><span class="o">.</span><span class="n">insert</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">X</span><span class="p">())</span> <span class="c1"># insert at start of list</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">11</span>
<span class="gp">>>> </span><span class="n">x</span><span class="o">.</span><span class="n">insert</span><span class="p">(</span><span class="mi">10</span><span class="p">,</span> <span class="n">X</span><span class="p">())</span> <span class="c1"># append to the list</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">11</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>If <code class="docutils literal notranslate"><span class="pre">i</span></code> is beyond the end of the list, the item is appended
to the list</p>
</div>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.isvalid">
<span class="sig-name descname"><span class="pre">isvalid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">check</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.isvalid" title="Permalink to this definition"></a></dt>
<dd><p>Test if vector is valid spatial vector</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>x</strong> (<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><em>numpy.ndarray</em></a>) – vector to test</p></li>
<li><p><strong>check</strong> (<em>bool</em>) – ignored</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>True if the matrix has shape (6,).</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.pop">
<span class="sig-name descname"><span class="pre">pop</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">i</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">-1</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.pop" title="Permalink to this definition"></a></dt>
<dd><p>Pop value from an instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>i</strong> (<em>int</em>) – item in the list to pop, default is last</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>the popped value</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>instance of same type</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><strong>IndexError</strong> – if there are no values to pop</p>
</dd>
</dl>
<p>Removes a value from the value list and returns it. The original
instance is modified.</p>
<p>Example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="n">x</span> <span class="o">=</span> <span class="n">X</span><span class="o">.</span><span class="n">Alloc</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">10</span>
<span class="gp">>>> </span><span class="n">y</span> <span class="o">=</span> <span class="n">x</span><span class="o">.</span><span class="n">pop</span><span class="p">()</span> <span class="c1"># pop the last value x[9]</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">9</span>
<span class="gp">>>> </span><span class="n">y</span> <span class="o">=</span> <span class="n">x</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span> <span class="c1"># pop the first value x[0]</span>
<span class="gp">>>> </span><span class="nb">len</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="go">8</span>
</pre></div>
</div>
<p>where <code class="docutils literal notranslate"><span class="pre">X</span></code> is any of the SMTB classes.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.reverse">
<span class="sig-name descname"><span class="pre">reverse</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.reverse" title="Permalink to this definition"></a></dt>
<dd><p>S.reverse() – reverse <em>IN PLACE</em></p>
</dd></dl>
<dl class="py property">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.A">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">A</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">ndarray</span></a><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.dtype.html#numpy.dtype" title="(in NumPy v2.2)"><span class="pre">dtype</span></a><span class="p"><span class="pre">[</span></span><span class="pre">ScalarType</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">ndarray</span></a><span class="p"><span class="pre">[</span></span><span class="pre">Any</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.dtype.html#numpy.dtype" title="(in NumPy v2.2)"><span class="pre">dtype</span></a><span class="p"><span class="pre">[</span></span><span class="pre">ScalarType</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.A" title="Permalink to this definition"></a></dt>
<dd><p>Array value of an instance (BasePoseList superclass method)</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>NumPy array value of this instance</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>ndarray</p>
</dd>
</dl>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">X.A</span></code> is a NumPy array that represents the value of this instance,
and has a shape given by <code class="docutils literal notranslate"><span class="pre">X.shape</span></code>.</p></li>
</ul>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>This assumes that <code class="docutils literal notranslate"><span class="pre">len(X)</span></code> == 1, ie. it is a single-valued
instance.</p>
</div>
</dd></dl>
<dl class="py property">
<dt class="sig sig-object py" id="spatialmath.spatialvector.SpatialVelocity.shape">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">shape</span></span><a class="headerlink" href="#spatialmath.spatialvector.SpatialVelocity.shape" title="Permalink to this definition"></a></dt>
<dd><p>Shape of the object’s interal matrix representation</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>(6,)</p>
</dd>
<dt class="field-even">Return type<span class="colon">:</span></dt>
<dd class="field-even"><p>tuple</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</section>
</div>
</div>
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