8000 use raw strings for comments with embedded latex · ViolinLee/spatialmath-python@16dda32 · GitHub
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petercorkepetercorke
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use raw strings for comments with embedded latex
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‎spatialmath/base/transforms3d.py

Lines changed: 2 additions & 3 deletions
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@@ -1130,7 +1130,6 @@ def trinterp(T0, T1=None, s=None):
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- Rotation is interpolated using quaternion spherical linear interpolation (slerp).
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:seealso: :func:`spatialmath.base.quaternions.slerp`, :func:`~spatialmath.base.transforms3d.trinterp2`
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"""
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@@ -1159,7 +1158,7 @@ def trinterp(T0, T1=None, s=None):
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return trn.rt2tr(quat.q2r(qr), pr)
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def delta2tr(d):
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"""
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r"""
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Convert differential motion to SE(3)
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:param d: differential motion as a 6-vector
@@ -1178,7 +1177,7 @@ def delta2tr(d):
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return np.eye(4,4) + trn.skewa(d)
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def trinv(T):
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"""
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r"""
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Invert an SE(3) matrix
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:param T: an SE(3) matrix

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