Update documentation

Author: actions-user

2d_ellipse.html

@@ -124,7 +124,7 @@ <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><a class="sphinx-codeautolink-a" href="2d_ellipse.html#spatialmath.geom2d.Ellipse.FromPerimeter" title="spatialmath.geom2d.Ellipse.FromPerimeter"><span class="n">Ellipse</span><span class="o">.</span><span class="n">FromPerimeter</span></a><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">

2d_pose_twist.html

@@ -794,11 +794,11 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-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> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</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><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
-<span class="go">Twist3([0.47871, 0.33403, 0.22081, -0.18623, 1.706, -1.6123])</span>
+<span class="go">Twist3([0.21391, 0.92318, 0.81508, 1.4241, 0.61108, -0.52928])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([-0.47871, -0.33403, -0.22081, 0.18623, -1.706, 1.6123])</span>
+<span class="go">Twist3([-0.21391, -0.92318, -0.81508, -1.4241, -0.61108, 0.52928])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([1.6653e-16, 1.3878e-17, -2.7756e-17, 1.3878e-17, -2.7756e-17, 0])</span>
+<span class="go">Twist3([0, -1.1102e-16, 0, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>

3d_orient_SO3.html

@@ -491,9 +491,9 @@ <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> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">SO3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3.Rand" title="spatialmath.pose3d.SO3.Rand"><span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_orient_SO3.html#spatialmath.pose3d.SO3" title="spatialmath.pose3d.SO3"><span class="n">x</span></a>
-<span class="go">SO3(array([[ 0.5487,  0.5202,  0.6544],</span>
-<span class="go">           [ 0.2048,  0.6753, -0.7085],</span>
-<span class="go">           [-0.8105,  0.5228,  0.264 ]]))</span>
+<span class="go">SO3(array([[-0.5958, -0.7793, -0.1941],</span>
+<span class="go">           [ 0.8008, -0.5948, -0.0701],</span>
+<span class="go">           [-0.0609, -0.1972,  0.9785]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -440,11 +440,11 @@ <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> <a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion" title="spatialmath.quaternion.UnitQuaternion"><span class="n">UnitQuaternion</span></a> <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><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">())</span>
-<span class="go"> 0.8102 &lt;&lt; -0.3757,  0.2703,  0.3597 &gt;&gt;</span>
+<span class="go"> 0.2404 &lt;&lt; -0.5021,  0.5821, -0.5926 &gt;&gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_orient_unitquaternion.html#spatialmath.quaternion.UnitQuaternion.Rand" title="spatialmath.quaternion.UnitQuaternion.Rand"><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
-<span class="go"> 0.8715 &lt;&lt; -0.3848, -0.2196, -0.2103 &gt;&gt;</span>
-<span class="go"> 0.2498 &lt;&lt; -0.2245,  0.8993,  0.2802 &gt;&gt;</span>
-<span class="go"> 0.3653 &lt;&lt;  0.9032, -0.1594, -0.1592 &gt;&gt;</span>
+<span class="go"> 0.1007 &lt;&lt; -0.1776,  0.1014,  0.9737 &gt;&gt;</span>
+<span class="go"> 0.5635 &lt;&lt; -0.2276,  0.3542, -0.7108 &gt;&gt;</span>
+<span class="go"> 0.8051 &lt;&lt;  0.1713,  0.3019, -0.4810 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_pose_SE3.html

@@ -589,13 +589,13 @@ <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> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">SE3([</span>
-<span class="go">array([[-0.6565,  0.752 ,  0.0595, -0.6738],</span>
-<span class="go">       [ 0.3029,  0.335 , -0.8922,  0.293 ],</span>
-<span class="go">       [-0.6908, -0.5677, -0.4477, -0.2429],</span>
+<span class="go">array([[-0.7856,  0.613 , -0.0844, -0.019 ],</span>
+<span class="go">       [-0.6039, -0.7299,  0.3203, -0.5666],</span>
+<span class="go">       [ 0.1347,  0.3026,  0.9436,  0.6336],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]),</span>
-<span class="go">array([[ 0.4439, -0.8399,  0.3122, -0.4579],</span>
-<span class="go">       [-0.8943, -0.4371,  0.0955, -0.0385],</span>
-<span class="go">       [ 0.0562, -0.3216, -0.9452,  0.9481],</span>
+<span class="go">array([[-0.8352,  0.4738, -0.2793, -0.604 ],</span>
+<span class="go">       [-0.3599, -0.8548, -0.3739,  0.6144],</span>
+<span class="go">       [-0.4159, -0.2117,  0.8844, -0.8594],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]) ])</span>
 </pre></div>
 </div>

3d_pose_dualquaternion.html

@@ -144,17 +144,17 @@ <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> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
-<span class="go">  -0.8459   -0.2703    0.4599   -0.6497    </span>
-<span class="go">  -0.4027   -0.2418   -0.8828    0.01858   </span>
-<span class="go">   0.3498   -0.9319    0.09566   0.6314    </span>
+<span class="go">   0.4877    0.8299   -0.271    -0.6491    </span>
+<span class="go">   0.2844    0.1425    0.9481    0.7465    </span>
+<span class="go">   0.8254   -0.5394   -0.1665    0.2319    </span>
 <span class="go">   0         0         0         1</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
-<span class="go">-0.0448 &lt;&lt;  0.2740, -0.6141,  0.7388 &gt;&gt; + ε -0.1385 &lt;  0.2153,  0.3261,  0.1828 &gt;</span>
+<span class="go">-0.6049 &lt;&lt;  0.6148,  0.4531,  0.2255 &gt;&gt; + ε  0.0043 &lt;  0.2279, -0.0813, -0.4467 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion.SE3" title="spatialmath.DualQuaternion.UnitDualQuaternion.SE3"><span class="n">d</span><span class="o">.</span><span class="n">SE3</span></a><span class="p">())</span>
-<span class="go">  -0.8459   -0.2703    0.4599   -0.6497    </span>
-<span class="go">  -0.4027   -0.2418   -0.8828    0.01858   </span>
-<span class="go">   0.3498   -0.9319    0.09566   0.6314    </span>
+<span class="go">   0.4877    0.8299   -0.271    -0.6491    </span>
+<span class="go">   0.2844    0.1425    0.9481    0.7465    </span>
+<span class="go">   0.8254   -0.5394   -0.1665    0.2319    </span>
 <span class="go">   0         0         0         1</span>
 </pre></div>
 </div>
@@ -201,13 +201,13 @@ <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> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">,</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">SE3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3.Rand" title="spatialmath.pose3d.SE3.Rand"><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span></a><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
-<span class="go">   0.1438   -0.083     0.9861    0.792     </span>
-<span class="go">   0.06128  -0.9938   -0.09258  -0.9963    </span>
-<span class="go">   0.9877    0.07374  -0.1378    0.6082    </span>
+<span class="go">  -0.7434    0.189    -0.6416    0.09369   </span>
+<span class="go">   0.08959   0.9787    0.1845    0.3231    </span>
+<span class="go">   0.6628    0.0797   -0.7445   -0.02933   </span>
 <span class="go">   0         0         0         1</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">UnitDualQuaternion</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_SE3.html#spatialmath.pose3d.SE3" title="spatialmath.pose3d.SE3"><span class="n">T</span></a><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
-<span class="go"> 0.0551 &lt;&lt;  0.7542, -0.0072,  0.6543 &gt;&gt; + ε -0.5012 &lt; -0.3019, -0.0572,  0.3896 &gt;</span>
+<span class="go">-0.3503 &lt;&lt;  0.0748,  0.9309,  0.0710 &gt;&gt; + ε -0.1529 &lt;  0.0087, -0.0610,  0.0367 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><a class="sphinx-codeautolink-a" href="3d_pose_dualquaternion.html#spatialmath.DualQuaternion.UnitDualQuaternion" title="spatialmath.DualQuaternion.UnitDualQuaternion"><span class="n">d</span></a><span class="p">)</span>
 <span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
 </pre></div>

3d_pose_twist.html

@@ -273,8 +273,8 @@ <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> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.Rand" title="spatialmath.twist.Twist3.Rand"><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span></a><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">  [-0.63572, -0.48649, 0.53884, -1.635, -2.025, -0.41412],</span>
-<span class="go">  [0.5994, 0.85201, 0.22567, 0.59165, 0.16016, -2.9061]</span>
+<span class="go">  [0.096189, 0.57871, 0.30523, 0.8879, 0.7794, 0.47189],</span>
+<span class="go">  [0.4007, 0.71524, -1.1266, 0.090941, 2.2656, -1.5865]</span>
 <span class="go">])</span>
 </pre></div>
 </div>
@@ -1067,11 +1067,11 @@ <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> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">Twist3</span></a><span class="p">(</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><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a>
-<span class="go">Twist3([0.64691, 0.62918, 0.16147, 1.6007, 0.89601, -1.6247])</span>
+<span class="go">Twist3([-0.20672, -0.54662, -0.6719, 1.2126, -1.4206, 1.5712])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([-0.64691, -0.62918, -0.16147, -1.6007, -0.89601, 1.6247])</span>
+<span class="go">Twist3([0.20672, 0.54662, 0.6719, -1.2126, 1.4206, -1.5712])</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3" title="spatialmath.twist.Twist3"><span class="n">S</span></a> <span class="o">*</span> <a class="sphinx-codeautolink-a" href="3d_pose_twist.html#spatialmath.twist.Twist3.inv" title="spatialmath.twist.Twist3.inv"><span class="n">S</span><span class="o">.</span><span class="n">inv</span></a><span class="p">()</span>
-<span class="go">Twist3([-3.2558e-33, -1.1102e-16, 5.5511e-17, -1.301e-17, 2.342e-17, 4.6941e-17])</span>
+<span class="go">Twist3([1.1102e-16, -2.7756e-17, -1.1102e-16, 3.6323e-17, 5.3015e-17, -5.1089e-17])</span>
 </pre></div>
 </div>
 </dd></dl>