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

@@ -717,11 +717,11 @@ <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([-0.44947, -0.29757, -0.85651, 1.2134, -1.4652, 1.13])</span>
+<span class="go">Twist3([0.5297, 0.84385, -0.65581, -1.2505, -2.2821, 1.4597])</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([0.44947, 0.29757, 0.85651, -1.2134, 1.4652, -1.13])</span>
+<span class="go">Twist3([-0.5297, -0.84385, 0.65581, 1.2505, 2.2821, -1.4597])</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([2.7756e-17, -5.5511e-17, -1.1102e-16, 0, 0, 0])</span>
+<span class="go">Twist3([0, 0, -1.1102e-16, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>
@@ -1024,7 +1024,7 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><span class="n">T</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><span class="n">SE2</span></a><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="2d_pose_twist.html#spatialmath.twist.Twist2" title="spatialmath.twist.Twist2"><span class="n">S</span></a> <span class="o">=</span> <a class="sphinx-codeautolink-a" href="2d_pose_twist.html#spatialmath.twist.Twist2" title="spatialmath.twist.Twist2"><span class="n">Twist2</span></a><span class="p">(</span><a class="sphinx-codeautolink-a" href="2d_pose_SE2.html#spatialmath.pose2d.SE2" title="spatialmath.pose2d.SE2"><span class="n">T</span></a><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><a class="sphinx-codeautolink-a" href="2d_pose_twist.html#spatialmath.twist.Twist2.pole" title="spatialmath.twist.Twist2.pole"><span class="n">S</span><span class="o">.</span><span class="n">pole</span></a>
-<span class="go">array([-1.835 ,  1.2925])</span>
+<span class="go">array([-6.1166,  4.3083])</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([[ 0.1102, -0.9299,  0.351 ],</span>
-<span class="go">           [ 0.5887, -0.2235, -0.7768],</span>
-<span class="go">           [ 0.8008,  0.2922,  0.5228]]))</span>
+<span class="go">SO3(array([[ 0.4761,  0.124 , -0.8706],</span>
+<span class="go">           [-0.863 , -0.1244, -0.4897],</span>
+<span class="go">           [-0.169 ,  0.9845,  0.0478]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -464,11 +464,11 @@ <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"> 0.7892 &lt;&lt; -0.5705,  0.0780, -0.2134 &gt;&gt;</span>
+<span class="go"> 0.2145 &lt;&lt; -0.4880,  0.2601,  0.8051 &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"> 0.7629 &lt;&lt; -0.3298, -0.5529,  0.0600 &gt;&gt;</span>
-<span class="go"> 0.4270 &lt;&lt; -0.0483,  0.6780,  0.5964 &gt;&gt;</span>
-<span class="go"> 0.3969 &lt;&lt;  0.8961, -0.1852, -0.0720 &gt;&gt;</span>
+<span class="go"> 0.1814 &lt;&lt;  0.2830, -0.8305, -0.4442 &gt;&gt;</span>
+<span class="go"> 0.2988 &lt;&lt;  0.0812,  0.9086,  0.2803 &gt;&gt;</span>
+<span class="go"> 0.0028 &lt;&lt;  0.3432,  0.5924,  0.7289 &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([[ 0.354 ,  0.4121,  0.8396, -0.6341],</span>
-<span class="go">       [ 0.7718, -0.6357, -0.0134, -0.3086],</span>
-<span class="go">       [ 0.5282,  0.6527, -0.5431,  0.5872],</span>
+<span class="go">array([[ 0.007 , -0.3593,  0.9332, -0.3227],</span>
+<span class="go">       [ 0.545 , -0.7811, -0.3048,  0.4605],</span>
+<span class="go">       [ 0.8384,  0.5107,  0.1904,  0.4503],</span>
 <span class="go">       [ 0.    ,  0.    ,  0.    ,  1.    ]]),</span>
-<span class="go">array([[-0.5393,  0.3854, -0.7487,  0.433 ],</span>
-<span class="go">       [ 0.8077, -0.0149, -0.5894,  0.2707],</span>
-<span class="go">       [-0.2383, -0.9226, -0.3033, -0.5348],</span>
+<span class="go">array([[ 0.9827, -0.0993,  0.1561, -0.6963],</span>
+<span class="go">       [ 0.0099, -0.8141, -0.5807, -0.5127],</span>
+<span class="go">       [ 0.1847,  0.5722, -0.799 ,  0.7331],</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">   0.1048    0.9291    0.3547    0.8058    </span>
-<span class="go">   0.3563    0.2979   -0.8856   -0.003687  </span>
-<span class="go">  -0.9285    0.2192   -0.2999    0.443     </span>
+<span class="go">  -0.01899   0.03996  -0.999    -0.4254    </span>
+<span class="go">  -0.1981    0.9792    0.04293  -0.4578    </span>
+<span class="go">   0.98      0.1988   -0.01068  -0.7674    </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"> 0.5251 &lt;&lt;  0.5260,  0.6109, -0.2727 &gt;&gt; + ε -0.1504 &lt;  0.0768,  0.2254,  0.3634 &gt;</span>
+<span class="go">-0.6981 &lt;&lt; -0.0558,  0.7087,  0.0853 &gt;&gt; + ε  0.1830 &lt;  0.4009,  0.1993,  0.1044 &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">   0.1048    0.9291    0.3547    0.8058    </span>
-<span class="go">   0.3563    0.2979   -0.8856   -0.003687  </span>
-<span class="go">  -0.9285    0.2192   -0.2999    0.443     </span>
+<span class="go">  -0.01899   0.03996  -0.999    -0.4254    </span>
+<span class="go">  -0.1981    0.9792    0.04293  -0.4578    </span>
+<span class="go">   0.98      0.1988   -0.01068  -0.7674    </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">  -0.7843    0.518    -0.3414    0.8619    </span>
-<span class="go">   0.3514    0.8245    0.4436    0.9631    </span>
-<span class="go">   0.5112    0.2279   -0.8287   -0.5187    </span>
+<span class="go">  -0.5247    0.8247    0.2111    0.9035    </span>
+<span class="go">  -0.4604   -0.06632  -0.8852    0.58      </span>
+<span class="go">  -0.7161   -0.5616    0.4145    0.8726    </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">-0.2300 &lt;&lt;  0.2345,  0.9270,  0.1811 &gt;&gt; + ε -0.5005 &lt;  0.2285, -0.2496,  0.3463 &gt;</span>
+<span class="go">-0.4537 &lt;&lt; -0.1783, -0.5108,  0.7081 &gt;&gt; + ε -0.0802 &lt;  0.2232, -0.5293, -0.3770 &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>