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petercorkepetercorke
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doco update, focus on seealso and pycon example blocks
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‎spatialmath/baseposematrix.py

Lines changed: 34 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -404,7 +404,7 @@ def interp(self, end=None, s=None):
404404
405405
- For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).
406406
- Values of ``s`` outside the range [0,1] are silently clipped
407-
:seealso: :func:`interp1`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.slerp`, :func:`~spatialmath.base.transforms2d.trinterp2`
407+
:seealso: :func:`interp1`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.qslerp`, :func:`~spatialmath.base.transforms2d.trinterp2`
408408
409409
:SymPy: not supported
410410
"""
@@ -482,7 +482,7 @@ def interp1(self, s=None):
482482
483483
#. For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).
484484
485-
:seealso: :func:`interp`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.slerp`, :func:`~spatialmath.base.transforms2d.trinterp2`
485+
:seealso: :func:`interp`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.qslerp`, :func:`~spatialmath.base.transforms2d.trinterp2`
486486
487487
:SymPy: not supported
488488
"""
@@ -590,8 +590,8 @@ def stack(self):
590590

591591
# ----------------------- i/o stuff
592592

593-
def printline(self, arg=None, **kwargs):
594-
"""
593+
def printline(self, *args, **kwargs):
594+
r"""
595595
Print pose in compact single line format (superclass method)
596596
597597
:param arg: value for orient option, optional
@@ -618,7 +618,6 @@ def printline(self, arg=None, **kwargs):
618618
============= =================================================
619619
``orient`` description
620620
============= =================================================
621-
622621
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order [default]
623622
``'rpy/yxz'`` roll-pitch-yaw angles in YXZ axis order
624623
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order
@@ -631,38 +630,33 @@ def printline(self, arg=None, **kwargs):
631630
632631
.. runblock:: pycon
633632
633+
>>> from spatialmath import SE2, SE3
634634
>>> x = SE3.Rx(0.3)
635635
>>> x.printline()
636-
>>> x = SE3.Rx([0.2, 0.3], 'rpy/xyz')
636+
>>> x = SE3.Rx([0.2, 0.3])
637637
>>> x.printline()
638638
>>> x.printline('angvec')
639639
>>> x.printline(orient='angvec', fmt="{:.6f}")
640640
>>> x = SE2(1, 2, 0.3)
641641
>>> x.printline()
642-
>>> SE3.Rand(N=3).printline(fmt='{:8.3g}')
643642
644643
.. note::
645644
- Default formatting is for compact display of data
646645
- For tabular data set ``fmt`` to a fixed width format such as
647646
``fmt='{:.3g}'``
648647
649-
:seealso: :func:`trprint`, :func:`trprint2`
648+
:seealso: :meth:`strline` :func:`trprint`, :func:`trprint2`
650649
"""
651-
if arg is not None and kwargs == {}:
652-
if isinstance(arg, str):
653-
kwargs = dict(orient=arg)
654-
else:
655-
raise ValueError('single argument must be a string')
656650
if self.N == 2:
657651
for x in self.data:
658-
base.trprint2(x, **kwargs)
652+
base.trprint2(x, *args, **kwargs)
659653
else:
660654
for x in self.data:
661-
base.trprint(x, **kwargs)
655+
base.trprint(x, *args, **kwargs)
662656

663657
def strline(self, *args, **kwargs):
664658
"""
665-
Print pose in compact single line format (superclass method)
659+
Convert pose to compact single line string (superclass method)
666660
667661
:param label: text label to put at start of line
668662
:type label: str
@@ -675,28 +669,44 @@ def strline(self, *args, **kwargs):
675669
:type orient: str
676670
:param unit: angular units: 'rad' [default], or 'deg'
677671
:type unit: str
672+
:return: pose in string format
673+
:rtype: str
678674
679-
Print pose in a compact single line format. If ``X`` has multiple
680-
values, print one per line.
675+
Convert pose in a compact single line format. If ``X`` has multiple
676+
values, the string has one pose per line.
677+
678+
Orientation can be displayed in various formats:
679+
680+
============= =================================================
681+
``orient`` description
682+
============= =================================================
683+
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order [default]
684+
``'rpy/yxz'`` roll-pitch-yaw angles in YXZ axis order
685+
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order
686+
``'eul'`` Euler angles in ZYZ axis order
687+
``'angvec'`` angle and axis
688+
============= =================================================
681689
682690
Example:
683691
684692
.. runblock:: pycon
685693
694+
>>> from spatialmath import SE2, SE3
686695
>>> x = SE3.Rx(0.3)
687-
>>> x.printline()
688-
>>> x = SE3.Rx([0.2, 0.3], 'rpy/xyz')
689-
>>> x.printline()
696+
>>> x.strline()
697+
>>> x = SE3.Rx([0.2, 0.3])
698+
>>> x.strline()
699+
>>> x.strline('angvec')
700+
>>> x.strline(orient='angvec', fmt="{:.6f}")
690701
>>> x = SE2(1, 2, 0.3)
691-
>>> x.printline()
692-
>>> SE3.Rand(N=3).printline(fmt='{:8.3g}')
702+
>>> x.strline()
693703
694704
.. note::
695705
- Default formatting is for compact display of data
696706
- For tabular data set ``fmt`` to a fixed width format such as
697707
``fmt='{:.3g}'``
698708
699-
:seealso: :func:`trprint`, :func:`trprint2`
709+
:seealso: :meth:`printline` :func:`trprint`, :func:`trprint2`
700710
"""
701711
s = ""
702712
if self.N == 2:

‎spatialmath/pose3d.py

Lines changed: 34 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -743,7 +743,7 @@ def angdist(self, other, metric=6):
743743
744744
.. runblock:: pycon
745745
746-
>>> from spatialmath import UnitQuaternion
746+
>>> from spatialmath import SO3
747747
>>> R1 = SO3.Rx(0.3)
748748
>>> R2 = SO3.Ry(0.3)
749749
>>> print(R1.angdist(R1))
@@ -875,18 +875,15 @@ def t(self):
875875
``x.t`` is the translational component of ``x`` as an array with
876876
shape (3,). If ``len(x) > 1``, return an array with shape=(N,3).
877877
878-
.. runblock:: pycon
878+
Example:
879879
880-
>>> from spatialmath import UnitQuaternion
880+
.. runblock:: pycon
881881
882+
>>> from spatialmath import SE3
882883
>>> x = SE3(1,2,3)
883884
>>> x.t
884-
array([1., 2., 3.])
885885
>>> x = SE3([ SE3(1,2,3), SE3(4,5,6)])
886886
>>> x.t
887-
array([[1., 2., 3.],
888-
[4., 5., 6.]])
889-
890887
891888
:SymPy: supported
892889
"""
@@ -918,14 +915,14 @@ def inv(self):
918915
T = \left[ \begin{array}{cc} \mat{R} & \vec{t} \\ 0 & 1 \end{array} \right],
919916
\mat{T}^{-1} = \left[ \begin{array}{cc} \mat{R}^T & -\mat{R}^T \vec{t} \\ 0 & 1 \end{array} \right]`
920917
921-
Example::
918+
Example:
919+
920+
.. runblock:: pycon
922921
922+
>>> from spatialmath import SE3
923923
>>> x = SE3(1,2,3)
924924
>>> x.inv()
925-
SE3(array([[ 1., 0., 0., -1.],
926-
[ 0., 1., 0., -2.],
927-
[ 0., 0., 1., -3.],
928-
[ 0., 0., 0., 1.]]))
925+
929926
930927
:seealso: :func:`~spatialmath.base.transforms3d.trinv`
931928
@@ -949,13 +946,15 @@ def delta(self, X2=None):
949946
The vector :math:`d = [\delta_x, \delta_y, \delta_z, \theta_x, \theta_y, \theta_z]`
950947
represents infinitesimal translation and rotation.
951948
952-
Example::
949+
Example:
950+
951+
.. runblock:: pycon
953952
953+
>>> from spatialmath import SE3
954954
>>> x1 = SE3.Rx(0.3)
955955
>>> x2 = SE3.Rx(0.3001)
956956
>>> x1.delta(x2)
957-
array([0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 9.99999998e-05,
958-
0.00000000e+00, 0.00000000e+00])
957+
959958
960959
.. note::
961960
@@ -1032,11 +1031,13 @@ def twist(self):
10321031
:return: equivalent rigid-body motion as a twist vector
10331032
:rtype: Twist3 instance
10341033
1035-
Example::
1034+
Example:
10361035
1036+
.. runblock:: pycon
1037+
1038+
>>> from spatialmath import SE3
10371039
>>> x = SE3(1,2,3)
10381040
>>> x.twist()
1039-
Twist3([1, 2, 3, 0, 0, 0])
10401041
10411042
:seealso: :func:`spatialmath.twist.Twist3`
10421043
"""
@@ -1089,6 +1090,7 @@ def Rx(cls, theta, unit='rad', t=None):
10891090
10901091
.. runblock:: pycon
10911092
1093+
>>> from spatialmath import SE3
10921094
>>> SE3.Rx(0.3)
10931095
>>> SE3.Rx([0.3, 0.4])
10941096
@@ -1124,6 +1126,7 @@ def Ry(cls, theta, unit='rad', t=None):
11241126
11251127
.. runblock:: pycon
11261128
1129+
>>> from spatialmath import SE3
11271130
>>> SE3.Ry(0.3)
11281131
>>> SE3.Ry([0.3, 0.4])
11291132
@@ -1159,6 +1162,7 @@ def Rz(cls, theta, unit='rad', t=None):
11591162
11601163
.. runblock:: pycon
11611164
1165+
>>> from spatialmath import SE3
11621166
>>> SE3.Rz(0.3)
11631167
>>> SE3.Rz([0.3, 0.4])
11641168
@@ -1189,18 +1193,13 @@ def Rand(cls, N=1, xrange=(-1, 1), yrange=(-1, 1), zrange=(-1, 1)): # pylint: d
11891193
- ``SE3.Rand(N)`` is an SE3 object containing a sequence of N random
11901194
poses.
11911195
1192-
Example::
11931196
1197+
Example:
1198+
1199+
.. runblock:: pycon
1200+
1201+
>>> from spatialmath import SE3
11941202
>>> SE3.Rand(2)
1195-
SE3([
1196-
array([[ 0.58076657, 0.64578702, -0.49565041, -0.78585825],
1197-
[-0.57373134, -0.10724881, -0.8119914 , 0.72069253],
1198-
[-0.57753142, 0.75594763, 0.30822173, 0.12291999],
1199-
[ 0. , 0. , 0. , 1. ]]),
1200-
array([[ 0.96481299, -0.26267256, -0.01179066, 0.80294729],
1201-
[ 0.06421463, 0.19190584, 0.97931028, -0.15021311],
1202-
[-0.25497525, -0.94560841, 0.20202067, 0.02684599],
1203-
[ 0. , 0. , 0. , 1. ]]) ])
12041203
12051204
:seealso: :func:`~spatialmath.quaternions.UnitQuaternion.Rand`
12061205
"""
@@ -1333,13 +1332,12 @@ def OA(cls, o, a):
13331332
- ``o`` and ``a`` do not have to be orthogonal, so long as they are not parallel
13341333
``o`` is adjusted to be orthogonal to ``a``.
13351334
1336-
Example::
1335+
Example:
1336+
1337+
.. runblock:: pycon
13371338
1339+
>>> from spatialmath import SE3
13381340
>>> SE3.OA([1, 0, 0], [0, 0, -1])
1339-
SE3(array([[-0., 1., 0., 0.],
1340-
[ 1., 0., 0., 0.],
1341-
[ 0., 0., -1., 0.],
1342-
[ 0., 0., 0., 1.]]))
13431341
13441342
:seealso: :func:`~spatialmath.base.transforms3d.oa2r`
13451343
"""
@@ -1519,6 +1517,7 @@ def Tx(cls, x):
15191517
15201518
.. runblock:: pycon
15211519
1520+
>>> from spatialmath import SE3
15221521
>>> SE3.Tx(2)
15231522
>>> SE3.Tx([2,3])
15241523
@@ -1545,6 +1544,7 @@ def Ty(cls, y):
15451544
15461545
.. runblock:: pycon
15471546
1547+
>>> from spatialmath import SE3
15481548
>>> SE3.Ty(2)
15491549
>>> SE3.Ty([2,3])
15501550
@@ -1570,6 +1570,7 @@ def Tz(cls, z):
15701570
15711571
.. runblock:: pycon
15721572
1573+
>>> from spatialmath import SE3
15731574
>>> SE3.Tz(2)
15741575
>>> SE3.Tz([2,3])
15751576
@@ -1638,7 +1639,7 @@ def angdist(self, other, metric=6):
16381639
16391640
.. runblock:: pycon
16401641
1641-
>>> from spatialmath import UnitQuaternion
1642+
>>> from spatialmath import SE3
16421643
>>> T1 = SE3.Rx(0.3)
16431644
>>> T2 = SE3.Ry(0.3)
16441645
>>> print(T1.angdist(T1))

‎spatialmath/spatialvector.py

Lines changed: 19 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -39,11 +39,28 @@ class SpatialVector(BasePoseList):
3939
``+`` addition of spatial vectors of the same subclass
4040
``-`` subtraction of spatial vectors of the same subclass
4141
``-`` unary minus
42-
``*`` premultiplication by Twist3 is transformation to new frame
42+
``*`` see table below
4343
``^`` cross product x or x*
4444
======== ===========================================================
4545
4646
47+
Certain subtypes can be multiplied
48+
49+
=================== ==================== =================== =========================
50+
Multiplicands Product
51+
------------------------------------------ ----------------------------------------------
52+
left right type operation
53+
=================== ==================== =================== =========================
54+
SE3, Twist3 SpatialVelocity SpatialVelocity adjoint product
55+
SE3, Twist3 SpatialAcceleration SpatialAcceleration adjoint product
56+
SE3, Twist3 SpatialMomentum SpatialMomentum adjoint transpose product
57+
SE3, Twist3 SpatialForce SpatialForce adjoint transpose product
58+
SpatialAcceleration SpatialInertia SpatialForce matrix-vector product**
59+
SpatialVelocity SpatialInertia SpatialMomentum matrix-vector product**
60+
=================== ==================== =================== =========================
61+
62+
** indicates commutative operator.
63+
4764
.. inheritance-diagram:: spatialmath.spatialvector.SpatialVelocity spatialmath.spatialvector.SpatialAcceleration spatialmath.spatialvector.SpatialForce spatialmath.spatialvector.SpatialMomentum
4865
:top-classes: spatialmath.spatialvector.SpatialVector
4966
:parts: 1
@@ -442,7 +459,7 @@ def __init__(self, value=None):
442459
super().__init__(value)
443460
# n = SpatialForce(val);
444461

445-
def __rmul(right, left): # lgtm[py/not-named-self] pylint: disable=no-self-argument
462+
def __rmul__(right, left): # lgtm[py/not-named-self] pylint: disable=no-self-argument
446463
# Twist * SpatialForce -> SpatialForce
447464
return SpatialForce(left.Ad.T @ right.A)
448465

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