fix up wrap_mpi_pi, doco

Author: petercorke

spatialmath/base/__init__.py

@@ -183,6 +183,7 @@
     "getunit",
     "isnumberlist",
     "isvectorlist",
+
     # spatialmath.base.quaternions
     "pure",
     "qnorm",
@@ -206,6 +207,7 @@
     "dotb",
     "angle",
     "qprint",
+
     # spatialmath.base.transforms2d
     "rot2",
     "trot2",
@@ -222,6 +224,7 @@
     "xyt2tr",
     "tr2xyt",
     "trinv2",
+
     # spatialmath.base.transforms3d
     "rotx",
     "roty",
@@ -282,6 +285,7 @@
     "e2h",
     "homtrans",
     "rodrigues",
+
     # spatialmath.base.vectors
     "colvec",
     "unitvec",
@@ -301,9 +305,11 @@
     "iszero",
     "wrap_0_2pi",
     "wrap_mpi_pi",
+    "wrap_0_pi",
     # spatialmath.base.animate
     "Animate",
     "Animate2",
+
     # spatial.base.graphics
     "plotvol2",
     "plotvol3",

spatialmath/base/vectors.py

@@ -501,7 +501,7 @@ def unittwist2_norm(S):
 
 def wrap_0_pi(theta):
     r"""
-    Wrap angle to range [0, pi]
+    Wrap angle to range :math:`[0, \pi]`
 
     :param theta: input angle
     :type theta: scalar or ndarray
@@ -513,7 +513,7 @@ def wrap_0_pi(theta):
     """
     n = (theta / np.pi)
     if isinstance(n, np.ndarray):
-        n = astype(int)
+        n = n.astype(int)
     else:
         n = int(n)
 
@@ -522,7 +522,7 @@ def wrap_0_pi(theta):
 
 def wrap_0_2pi(theta):
     r"""
-    Wrap angle to range [0, 2pi)
+    Wrap angle to range :math:`[0, 2\pi)`
 
     :param theta: input angle
     :type theta: scalar or ndarray
@@ -533,7 +533,7 @@ def wrap_0_2pi(theta):
 
 def wrap_mpi_pi(angle):
     r"""
-    Wrap angle to range [-pi, pi)
+    Wrap angle to range :math:`[\-pi, \pi)`
 
     :param theta: input angle
     :type theta: scalar or ndarray