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‎2d_ellipse-1.pdf

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‎2d_ellipse.html

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‎2d_line.html

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‎2d_orient_SO2-1.pdf

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‎2d_pose_twist.html

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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">Twist3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist3</span><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
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<span class="go">Twist3([-0.47048, 0.46827, -0.43154, 0.50118, 1.2418, 0.74807])</span>
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<span class="go">Twist3([0.079776, -0.083173, 0.71509, 2.4785, -0.661, -0.58477])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([0.47048, -0.46827, 0.43154, -0.50118, -1.2418, -0.74807])</span>
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<span class="go">Twist3([-0.079776, 0.083173, -0.71509, -2.4785, 0.661, 0.58477])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">*</span> <span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([0, 0, 2.7756e-17, 0, 0, 0])</span>
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<span class="go">Twist3([0, 5.5511e-17, -1.3878e-17, 0, 0, 0])</span>
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‎3d_dualquaternion.html

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‎3d_line.html

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‎3d_orient_SO3-1.pdf

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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">SO3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span> <span class="o">=</span> <span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
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<span class="go">SO3(array([[ 0.9103, 0.1881, -0.3686],</span>
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<span class="go"> [ 0.4134, -0.4531, 0.7898],</span>
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<span class="go">SO3(array([[-0.6773, 0.4954, 0.544 ],</span>
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<span class="go"> [ 0.2857, 0.8584, -0.4261],</span>
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<span class="go"> [-0.678 , -0.1332, -0.7229]]))</span>
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‎3d_orient_unitquaternion.html

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<p>Example:</p>
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">UnitQuaternion</span> <span class="k">as</span> <span class="n">UQ</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
454-
<span class="go"> 0.0614 &lt;&lt; -0.8588, 0.4380, -0.2586 &gt;&gt;</span>
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<span class="go"> 0.1270 &lt;&lt; 0.6215, -0.4363, -0.6382 &gt;&gt;</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
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<span class="go"> 0.9573 &lt;&lt; 0.2699, -0.0926, 0.0476 &gt;&gt;</span>
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<span class="go"> 0.0176 &lt;&lt; -0.0710, -0.0359, -0.9967 &gt;&gt;</span>
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<span class="go"> 0.1519 &lt;&lt; -0.0486, -0.9322, 0.3249 &gt;&gt;</span>
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<span class="go"> 0.4048 &lt;&lt; 0.3095, 0.8225, 0.2526 &gt;&gt;</span>
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<span class="go"> 0.9060 &lt;&lt; -0.0478, -0.0623, 0.4159 &gt;&gt;</span>
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<span class="go"> 0.6917 &lt;&lt; -0.3128, -0.5239, 0.3864 &gt;&gt;</span>
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‎3d_plane.html

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@@ -618,13 +618,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">SE3</span>
619619
<span class="gp">&gt;&gt;&gt; </span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
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<span class="go">SE3([</span>
621-
<span class="go">array([[-0.1909, 0.593 , 0.7823, -0.8932],</span>
622-
<span class="go"> [ 0.9551, 0.2963, 0.0085, 0.2261],</span>
623-
<span class="go"> [-0.2267, 0.7487, -0.6229, -0.925 ],</span>
621+
<span class="go">array([[ 0.9849, 0.057 , 0.1637, 0.1523],</span>
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<span class="go"> [ 0.1471, -0.7747, -0.6149, -0.6491],</span>
623+
<span class="go"> [ 0.0918, 0.6297, -0.7714, 0.7622],</span>
624624
<span class="go"> [ 0. , 0. , 0. , 1. ]]),</span>
625-
<span class="go">array([[ 0.6979, -0.0575, 0.7139, 0.2207],</span>
626-
<span class="go"> [ 0.6988, 0.2733, -0.6611, -0.2518],</span>
627-
<span class="go"> [-0.1571, 0.9602, 0.2309, 0.8494],</span>
625+
<span class="go">array([[-0.4499, 0.7262, 0.5199, 0.3685],</span>
626+
<span class="go"> [-0.4262, 0.3369, -0.8395, 0.4568],</span>
627+
<span class="go"> [-0.7848, -0.5993, 0.1579, -0.9723],</span>
628628
<span class="go"> [ 0. , 0. , 0. , 1. ]]) ])</span>
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</pre></div>
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‎3d_pose_dualquaternion.html

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@@ -201,14 +201,14 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
202202
<span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
203203
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
204-
<span class="go"> 0.2917 0.952 -0.09292 -0.2291 </span>
205-
<span class="go"> -0.6452 0.2676 0.7156 -0.3085 </span>
206-
<span class="go"> 0.7061 -0.1488 0.6923 0.7182 </span>
204+
<span class="go"> -0.4364 0.5227 -0.7323 0.8466 </span>
205+
<span class="go"> 0.131 -0.7684 -0.6265 0.2578 </span>
206+
<span class="go"> -0.8901 -0.3693 0.2669 0.2008 </span>
207207
<span class="go"> 0 0 0 1 </span>
208208

209209
<span class="gp">&gt;&gt;&gt; </span><span class="n">d</span> <span class="o">=</span> <span class="n">UnitDualQuaternion</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
210210
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
211-
<span class="go"> 0.7503 &lt;&lt; -0.2880, -0.2662, -0.5322 &gt;&gt; + ε 0.1171 &lt; 0.0917, -0.2801, 0.2555 &gt;</span>
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<span class="go">-0.1246 &lt;&lt; -0.5160, -0.3167, 0.7861 &gt;&gt; + ε 0.1803 &lt; 0.0804, -0.4006, -0.0801 &gt;</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
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<span class="go">&lt;class &#39;spatialmath.DualQuaternion.UnitDualQuaternion&#39;&gt;</span>
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</pre></div>
@@ -387,7 +387,7 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
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<div role="contentinfo">
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<p>&#169; Copyright 2020-, Peter Corke..
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<span class="lastupdated">Last updated on 29-Jul-2024.
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<span class="lastupdated">Last updated on 01-Aug-2024.
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‎3d_pose_twist.html

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<img src="_static/CartesianSnakes_LogoW.png" class="logo" alt="Logo"/>
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</a>
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<div class="version">
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1.1.10
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</div>
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<div role="search">
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<form id="rtd-search-form" class="wy-form" action="search.html" method="get">
@@ -323,8 +323,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">Twist3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
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<span class="go">Twist3([</span>
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<span class="go"> [-0.89028, 0.54, -0.38275, -0.31086, 2.0632, -0.53461],</span>
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<span class="go"> [-0.72121, 0.064011, 1.3678, -0.4661, 2.8788, 1.0726]</span>
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<span class="go"> [-0.0083994, 0.048943, 0.026766, -0.29666, 2.5864, 0.3635],</span>
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<span class="go"> [-0.73756, -0.36835, -0.54749, -0.44172, 0.9757, -1.8014]</span>
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<span class="go">])</span>
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</pre></div>
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</div>
@@ -1081,11 +1081,11 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">Twist3</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist3</span><span class="p">(</span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
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<span class="go">Twist3([0.75636, -0.004209, 0.24895, -1.1425, 0.48013, -0.42857])</span>
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<span class="go">Twist3([-0.73913, -0.63014, 1.524, -2.8597, 0.087218, 0.67055])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([-0.75636, 0.004209, -0.24895, 1.1425, -0.48013, 0.42857])</span>
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<span class="go">Twist3([0.73913, 0.63014, -1.524, 2.8597, -0.087218, -0.67055])</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">*</span> <span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
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<span class="go">Twist3([1.1102e-16, 1.3878e-17, 4.1633e-17, 0, 0, 0])</span>
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<span class="go">Twist3([1.1102e-16, 2.2204e-16, 9.992e-16, 0, -3.4306e-18, 5.8175e-18])</span>
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</pre></div>
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</dd></dl>
@@ -1539,7 +1539,7 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
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<div role="contentinfo">
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<p>&#169; Copyright 2020-, Peter Corke..
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<span class="lastupdated">Last updated on 29-Jul-2024.
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<span class="lastupdated">Last updated on 01-Aug-2024.
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