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‎2d_ellipse-1.pdf

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‎2d_ellipse.html

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@@ -555,7 +555,7 @@ <h1>2D ellipse<a class="headerlink" href="#d-ellipse" title="Permalink to this h
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<p>&#169; Copyright 2020-, Peter Corke..
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<span class="lastupdated">Last updated on 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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‎2d_line.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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‎2d_linesegment.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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‎2d_orient_SO2-1.pdf

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‎2d_orient_SO2.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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‎2d_polygon-1.pdf

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‎2d_polygon.html

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<p>&#169; Copyright 2020-, Peter Corke..
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<span class="lastupdated">Last updated on 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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‎2d_pose_SE2-1.pdf

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‎2d_pose_SE2.html

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@@ -2556,7 +2556,7 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎2d_pose_twist.html

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@@ -701,11 +701,11 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-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>
702702
<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>
703703
<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
704-
<span class="go">Twist3([-0.84057, 0.2276, -0.45374, -1.6632, -0.49076, -0.89819])</span>
704+
<span class="go">Twist3([-0.91017, -0.55606, 0.82654, -0.17246, -2.3463, -0.56793])</span>
705705
<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>
706-
<span class="go">Twist3([0.84057, -0.2276, 0.45374, 1.6632, 0.49076, 0.89819])</span>
706+
<span class="go">Twist3([0.91017, 0.55606, -0.82654, 0.17246, 2.3463, 0.56793])</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>
708-
<span class="go">Twist3([-2.2204e-16, 1.0408e-17, 0, 0, 0, 0])</span>
708+
<span class="go">Twist3([-2.2204e-16, -8.3267e-17, -3.3307e-16, 0, 0, 0])</span>
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</pre></div>
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</div>
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</dd></dl>
@@ -1126,7 +1126,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_dualquaternion.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_line.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_orient_SO3-1.pdf

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‎3d_orient_SO3.html

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@@ -504,9 +504,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
504504
<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>
505505
<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>
506506
<span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
507-
<span class="go">SO3(array([[-0.4589, -0.6971, -0.5509],</span>
508-
<span class="go"> [ 0.6402, -0.6894, 0.339 ],</span>
509-
<span class="go"> [-0.6161, -0.1971, 0.7626]]))</span>
507+
<span class="go">SO3(array([[-0.768 , 0.636 , 0.0755],</span>
508+
<span class="go"> [ 0.3237, 0.2837, 0.9026],</span>
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<span class="go"> [ 0.5526, 0.7177, -0.4238]]))</span>
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</pre></div>
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</div>
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<dl class="field-list simple">
@@ -3009,7 +3009,7 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_orient_unitquaternion.html

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<p>Example:</p>
452452
<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>
453453
<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"> 0.6458 &lt;&lt; -0.5544, 0.3608, -0.3812 &gt;&gt;</span>
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<span class="go"> 0.1630 &lt;&lt; -0.1271, 0.7775, 0.5939 &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>
456-
<span class="go"> 0.4762 &lt;&lt; 0.4341, -0.4307, -0.6318 &gt;&gt;</span>
457-
<span class="go"> 0.1773 &lt;&lt; -0.4929, 0.8342, 0.1724 &gt;&gt;</span>
458-
<span class="go"> 0.2153 &lt;&lt; -0.3234, -0.2482, -0.8874 &gt;&gt;</span>
456+
<span class="go"> 0.2822 &lt;&lt; 0.2440, -0.8064, -0.4589 &gt;&gt;</span>
457+
<span class="go"> 0.7041 &lt;&lt; -0.6589, -0.2637, -0.0242 &gt;&gt;</span>
458+
<span class="go"> 0.5300 &lt;&lt; 0.6432, 0.3893, -0.3922 &gt;&gt;</span>
459459
</pre></div>
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</div>
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<dl class="field-list simple">
@@ -2484,7 +2484,7 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_plane.html

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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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‎3d_pose_SE3-1.pdf

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‎3d_pose_SE3.html

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@@ -618,13 +618,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
618618
<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>
620620
<span class="go">SE3([</span>
621-
<span class="go">array([[ 0.9796, -0.1411, 0.143 , -0.466 ],</span>
622-
<span class="go"> [-0.1693, -0.1965, 0.9658, -0.5578],</span>
623-
<span class="go"> [-0.1082, -0.9703, -0.2164, -0.568 ],</span>
621+
<span class="go">array([[ 0.5805, -0.1663, -0.7971, 0.9158],</span>
622+
<span class="go"> [-0.3364, 0.8425, -0.4207, 0.6684],</span>
623+
<span class="go"> [ 0.7415, 0.5124, 0.4331, -0.0256],</span>
624624
<span class="go"> [ 0. , 0. , 0. , 1. ]]),</span>
625-
<span class="go">array([[-0.7934, -0.5405, -0.2798, -0.2385],</span>
626-
<span class="go"> [-0.0125, -0.4452, 0.8953, -0.8797],</span>
627-
<span class="go"> [-0.6085, 0.7139, 0.3465, -0.6141],</span>
625+
<span class="go">array([[-0.0059, 0.5239, 0.8518, -0.6303],</span>
626+
<span class="go"> [-0.9852, -0.1492, 0.085 , -0.7984],</span>
627+
<span class="go"> [ 0.1716, -0.8386, 0.517 , 0.2132],</span>
628628
<span class="go"> [ 0. , 0. , 0. , 1. ]]) ])</span>
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</pre></div>
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</div>
@@ -3460,7 +3460,7 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Permalink to th
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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 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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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"> -0.7794 0.2765 0.5623 -0.2064 </span>
205-
<span class="go"> -0.3479 0.5553 -0.7553 -0.5877 </span>
206-
<span class="go"> -0.5211 -0.7843 -0.3366 0.7095 </span>
204+
<span class="go"> 0.9814 0.001594 -0.1922 -0.3993 </span>
205+
<span class="go"> -0.03561 0.9842 -0.1737 -0.5439 </span>
206+
<span class="go"> 0.1888 0.1773 0.9659 0.1066 </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"> 0.3314 &lt;&lt; -0.0218, 0.8172, -0.4710 &gt;&gt; + ε 0.4050 &lt; -0.1857, -0.1537, 0.0268 &gt;</span>
211+
<span class="go"> 0.9914 &lt;&lt; 0.0885, -0.0961, -0.0094 &gt;&gt; + ε -0.0080 &lt; -0.1903, -0.2667, 0.0961 &gt;</span>
212212
<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>
213213
<span class="go">&lt;class &#39;spatialmath.DualQuaternion.UnitDualQuaternion&#39;&gt;</span>
214214
</pre></div>
@@ -387,7 +387,7 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
387387

388388
<div role="contentinfo">
389389
<p>&#169; Copyright 2020-, Peter Corke..
390-
<span class="lastupdated">Last updated on 23-Feb-2024.
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<span class="lastupdated">Last updated on 18-Apr-2024.
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</span></p>
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</div>
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‎3d_pose_twist.html

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@@ -323,8 +323,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
323323
<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>
324324
<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>
325325
<span class="go">Twist3([</span>
326-
<span class="go"> [0.79953, 0.26001, -1.1802, -0.56969, 2.675, 0.78526],</span>
327-
<span class="go"> [0.30248, -0.13072, 1.3147, 2.3476, 0.32744, -0.99082]</span>
326+
<span class="go"> [0.70324, -0.20353, 0.53189, 0.12834, 0.42283, -1.768],</span>
327+
<span class="go"> [0.16965, 0.8109, 0.38997, 2.0537, 0.69441, 0.46064]</span>
328328
<span class="go">])</span>
329329
</pre></div>
330330
</div>
@@ -1081,11 +1081,11 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
10811081
<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>
10821082
<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>
10831083
<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span>
1084-
<span class="go">Twist3([0.86724, -1.479, -0.13197, -0.70771, -0.24889, -2.3622])</span>
1084+
<span class="go">Twist3([-0.36425, -0.022578, 1.1753, -1.1929, 0.58508, -2.4692])</span>
10851085
<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>
1086-
<span class="go">Twist3([-0.86724, 1.479, 0.13197, 0.70771, 0.24889, 2.3622])</span>
1086+
<span class="go">Twist3([0.36425, 0.022578, -1.1753, 1.1929, -0.58508, 2.4692])</span>
10871087
<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>
1088-
<span class="go">Twist3([1.1102e-16, -2.2204e-16, 5.5511e-17, 0, 4.6417e-17, -1.9258e-17])</span>
1088+
<span class="go">Twist3([5.5511e-17, 0, -1.1102e-16, 0, 0, 0])</span>
10891089
</pre></div>
10901090
</div>
10911091
</dd></dl>
@@ -1539,7 +1539,7 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Permalink to this
15391539

15401540
<div role="contentinfo">
15411541
<p>&#169; Copyright 2020-, Peter Corke..
1542-
<span class="lastupdated">Last updated on 23-Feb-2024.
1542+
<span class="lastupdated">Last updated on 18-Apr-2024.
15431543
</span></p>
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</div>
15451545

‎3d_quaternion.html

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@@ -1528,7 +1528,7 @@ <h1>Quaternion<a class="headerlink" href="#quaternion" title="Permalink to this
15281528

15291529
<div role="contentinfo">
15301530
<p>&#169; Copyright 2020-, Peter Corke..
1531-
<span class="lastupdated">Last updated on 23-Feb-2024.
1531+
<span class="lastupdated">Last updated on 18-Apr-2024.
15321532
</span></p>
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‎6d_momentum.html

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‎6d_spatial.html

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‎_modules/index.html

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