Update documentation

Author: actions-user

2d_ellipse.html

@@ -129,7 +129,7 @@ <h1>2D ellipse<a class="headerlink" href="#d-ellipse" title="Link to this headin
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">perim</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
 <span class="go">(2, 20)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">Ellipse</span><span class="o">.</span><span class="n">FromPerimeter</span><span class="p">(</span><span class="n">perim</span><span class="p">)</span>
-<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.7853981633974343)</span>
+<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.785398163397435)</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_SO3.html

@@ -505,9 +505,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Link to this he
 <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="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SO3</span>
 <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>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
-<span class="go">SO3(array([[ 0.48615868,  0.86864213,  0.09544942],</span>
-<span class="go">           [ 0.32243056, -0.07678467, -0.94347371],</span>
-<span class="go">           [-0.81221196,  0.48945374, -0.3174063 ]]))</span>
+<span class="go">SO3(array([[-0.13734739,  0.98368785,  0.1161633 ],</span>
+<span class="go">           [-0.69890047, -0.17934541,  0.69236793],</span>
+<span class="go">           [ 0.70190728,  0.01390834,  0.71213252]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -467,11 +467,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 <p>Example:</p>
 <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="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitQuaternion</span> <span class="k">as</span> <span class="n">UQ</span>
 <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="go"> 0.0337 &lt;&lt; -0.2132,  0.7636,  0.6086 &gt;&gt;</span>
+<span class="go"> 0.3884 &lt;&lt;  0.6035, -0.6329, -0.2904 &gt;&gt;</span>
 <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>
-<span class="go"> 0.4636 &lt;&lt;  0.7112, -0.1494, -0.5069 &gt;&gt;</span>
-<span class="go"> 0.8067 &lt;&lt;  0.5895,  0.0104,  0.0416 &gt;&gt;</span>
-<span class="go"> 0.8930 &lt;&lt; -0.1310,  0.3069,  0.3020 &gt;&gt;</span>
+<span class="go"> 0.4025 &lt;&lt;  0.4278, -0.4892,  0.6447 &gt;&gt;</span>
+<span class="go"> 0.1232 &lt;&lt;  0.9031, -0.2092,  0.3541 &gt;&gt;</span>
+<span class="go"> 0.8494 &lt;&lt;  0.0463,  0.1583, -0.5013 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_pose_SE3.html

@@ -606,13 +606,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Link to this he
 <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="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SE3</span>
 <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>
 <span class="go">SE3([</span>
-<span class="go">array([[-0.0431705 ,  0.98402935, -0.17269205,  0.12382052],</span>
-<span class="go">       [ 0.50136535,  0.17085015,  0.84819987,  0.96000982],</span>
-<span class="go">       [ 0.86415803, -0.04996459, -0.5007339 ,  0.5457096 ],</span>
+<span class="go">array([[ 0.94845376, -0.3076679 , -0.07599957, -0.7551701 ],</span>
+<span class="go">       [ 0.24990485,  0.87355757, -0.41766582,  0.68289054],</span>
+<span class="go">       [ 0.19489237,  0.37714406,  0.90541666, -0.68143082],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[-0.62922923, -0.46868765, -0.62000199,  0.26864844],</span>
-<span class="go">       [-0.53650881, -0.31524542,  0.78280178, -0.34882354],</span>
-<span class="go">       [-0.56234232,  0.82519828, -0.05309342,  0.91984711],</span>
+<span class="go">array([[ 0.06932509, -0.80770193, -0.58550117, -0.61079656],</span>
+<span class="go">       [-0.63534497,  0.41674238, -0.65012504, -0.85629692],</span>
+<span class="go">       [ 0.7691104 ,  0.4170652 , -0.48427865, -0.45367326],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]) ])</span>
 </pre></div>
 </div>

3d_pose_dualquaternion.html

@@ -197,14 +197,14 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <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="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
 <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>
 <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>
-<span class="go">   0.1968    0.9538    0.227     0.01754   </span>
-<span class="go">   0.9793   -0.1799   -0.09321   0.1237    </span>
-<span class="go">  -0.04809   0.2406   -0.9694    0.3756    </span>
+<span class="go">   0.0219   -0.1129   -0.9934   -0.1111    </span>
+<span class="go">   0.9325   -0.3561    0.06102  -0.6907    </span>
+<span class="go">  -0.3606   -0.9276    0.09746  -0.7073    </span>
 <span class="go">   0         0         0         1         </span>
 
 <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>
 <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>
-<span class="go"> 0.1090 &lt;&lt;  0.7658,  0.6310,  0.0584 &gt;&gt; + ε -0.0567 &lt; -0.1139,  0.1501, -0.0214 &gt;</span>
+<span class="go"> 0.4368 &lt;&lt; -0.5658, -0.3621,  0.5983 &gt;&gt; + ε  0.0551 &lt; -0.3589,  0.0825, -0.3298 &gt;</span>
 <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>
 <span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
 </pre></div>

3d_pose_twist.html

@@ -281,8 +281,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
 <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="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">Twist3</span>
 <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>
 <span class="go">Twist3([</span>
-<span class="go">  [-0.87068, 0.52924, 0.31456, 0.21393, -1.2056, 1.0018],</span>
-<span class="go">  [-0.52476, 0.55672, 0.67466, 1.3803, 1.6386, 1.0089]</span>
+<span class="go">  [-0.044347, 0.88776, 0.68604, -2.0179, -2.1217, -0.12493],</span>
+<span class="go">  [-0.54667, 0.42065, 0.93935, -0.19199, -0.68449, 0.34823]</span>
 <span class="go">])</span>
 </pre></div>
 </div>