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<!DOCTYPE html>
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<title>Class reference — Spatial Maths package documentation</title>
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Spatial Maths package
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<li class="toctree-l3"><a class="reference internal" href="#d-spatial-vectors">6D spatial vectors</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="6d_m6.html">Spatial M6</a></li>
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<li class="toctree-l4"><a class="reference internal" href="2d_orient_SO2.html">SO(2) matrix</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#geometry-in-2d">Geometry in 2D</a><ul>
<li class="toctree-l4"><a class="reference internal" href="2d_line.html">2D line</a></li>
<li class="toctree-l4"><a class="reference internal" href="2d_linesegment.html">2D line segment</a></li>
<li class="toctree-l4"><a class="reference internal" href="2d_polygon.html">2D polgon</a></li>
<li class="toctree-l4"><a class="reference internal" href="2d_ellipse.html">2D ellipse</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="functions.html">Function reference</a></li>
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<section id="class-reference">
<h1>Class reference<a class="headerlink" href="#class-reference" title="Permalink to this heading"></a></h1>
<a class="reference internal image-reference" href="_images/classes.png"><img alt="_images/classes.png" src="_images/classes.png" style="width: 600px;" /></a>
<p>(click to enlarged)</p>
<p>The Spatial Math Toolbox classes form a hierarchy.
They all inherit from the abstract class
<code class="docutils literal notranslate"><span class="pre">SMUserList</span></code> which embues them with list-like functionality.</p>
<section id="d-space">
<h2>3D-space<a class="headerlink" href="#d-space" title="Permalink to this heading"></a></h2>
<section id="pose-in-3d">
<h3>Pose in 3D<a class="headerlink" href="#pose-in-3d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="3d_pose_SE3.html">SE(3) matrix</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_pose_SE3.html#spatialmath.pose3d.SE3"><code class="docutils literal notranslate"><span class="pre">SE3</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="3d_pose_twist.html">se(3) twist</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_pose_twist.html#spatialmath.twist.Twist3"><code class="docutils literal notranslate"><span class="pre">Twist3</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="3d_pose_dualquaternion.html">Unit dual quaternion</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion"><code class="docutils literal notranslate"><span class="pre">UnitDualQuaternion</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="orientation-in-3d">
<h3>Orientation in 3D<a class="headerlink" href="#orientation-in-3d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="3d_orient_SO3.html">SO(3) matrix</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_orient_SO3.html#spatialmath.pose3d.SO3"><code class="docutils literal notranslate"><span class="pre">SO3</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="3d_orient_unitquaternion.html">Unit quaternion</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion"><code class="docutils literal notranslate"><span class="pre">UnitQuaternion</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="d-spatial-vectors">
<h3>6D spatial vectors<a class="headerlink" href="#d-spatial-vectors" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="6d_spatial.html">Spatial vector</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_spatial.html#spatialmath.spatialvector.SpatialVector"><code class="docutils literal notranslate"><span class="pre">SpatialVector</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_m6.html">Spatial M6</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_m6.html#spatialmath.spatialvector.SpatialM6"><code class="docutils literal notranslate"><span class="pre">SpatialM6</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_velocity.html">Spatial velocity</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_velocity.html#spatialmath.spatialvector.SpatialVelocity"><code class="docutils literal notranslate"><span class="pre">SpatialVelocity</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_acceleration.html">Spatial acceleration</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_acceleration.html#spatialmath.spatialvector.SpatialAcceleration"><code class="docutils literal notranslate"><span class="pre">SpatialAcceleration</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_f6.html">Spatial F6</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_f6.html#spatialmath.spatialvector.SpatialF6"><code class="docutils literal notranslate"><span class="pre">SpatialF6</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_force.html">Spatial force</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_force.html#spatialmath.spatialvector.SpatialForce"><code class="docutils literal notranslate"><span class="pre">SpatialForce</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_momentum.html">Spatial momentum</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_momentum.html#spatialmath.spatialvector.SpatialMomentum"><code class="docutils literal notranslate"><span class="pre">SpatialMomentum</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6d_inertia.html">Spatial inertia</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6d_inertia.html#spatialmath.spatialvector.SpatialInertia"><code class="docutils literal notranslate"><span class="pre">SpatialInertia</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="geometry-in-3d">
<h3>Geometry in 3D<a class="headerlink" href="#geometry-in-3d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="3d_line.html">3D line</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_line.html#spatialmath.geom3d.Line3"><code class="docutils literal notranslate"><span class="pre">Line3</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="3d_plane.html">Plane</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_plane.html#spatialmath.geom3d.Plane3"><code class="docutils literal notranslate"><span class="pre">Plane3</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="supporting">
<h3>Supporting<a class="headerlink" href="#supporting" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="3d_quaternion.html">Quaternion</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_quaternion.html#spatialmath.quaternion.Quaternion"><code class="docutils literal notranslate"><span class="pre">Quaternion</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="3d_dualquaternion.html">Dual Quaternion</a><ul>
<li class="toctree-l2"><a class="reference internal" href="3d_dualquaternion.html#spatialmath.DualQuaternion.DualQuaternion"><code class="docutils literal notranslate"><span class="pre">DualQuaternion</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
</section>
<hr class="docutils" />
<section id="id1">
<h2>2D-space<a class="headerlink" href="#id1" title="Permalink to this heading"></a></h2>
<section id="pose-in-2d">
<h3>Pose in 2D<a class="headerlink" href="#pose-in-2d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="2d_pose_SE2.html">SE(2) matrix</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_pose_SE2.html#spatialmath.pose2d.SE2"><code class="docutils literal notranslate"><span class="pre">SE2</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="2d_pose_twist.html">se(2) twist</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_pose_twist.html#spatialmath.twist.Twist2"><code class="docutils literal notranslate"><span class="pre">Twist2</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="orientation-in-2d">
<h3>Orientation in 2D<a class="headerlink" href="#orientation-in-2d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="2d_orient_SO2.html">SO(2) matrix</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_orient_SO2.html#spatialmath.pose2d.SO2"><code class="docutils literal notranslate"><span class="pre">SO2</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="geometry-in-2d">
<h3>Geometry in 2D<a class="headerlink" href="#geometry-in-2d" title="Permalink to this heading"></a></h3>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="2d_line.html">2D line</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_line.html#spatialmath.geom2d.Line2"><code class="docutils literal notranslate"><span class="pre">Line2</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="2d_linesegment.html">2D line segment</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_linesegment.html#spatialmath.geom2d.LineSegment2"><code class="docutils literal notranslate"><span class="pre">LineSegment2</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="2d_polygon.html">2D polgon</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_polygon.html#spatialmath.geom2d.Polygon2"><code class="docutils literal notranslate"><span class="pre">Polygon2</span></code></a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="2d_ellipse.html">2D ellipse</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2d_ellipse.html#spatialmath.geom2d.Ellipse"><code class="docutils literal notranslate"><span class="pre">Ellipse</span></code></a></li>
</ul>
</li>
</ul>
</div>
</section>
</section>
</section>
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