krishanrana
diff --git a/‎spatialmath/pose3d.py
Lines changed: 53 additions & 5 deletions b/‎spatialmath/pose3d.py
Lines changed: 53 additions & 5 deletions
@@ -537,7 +537,7 @@ def OA(cls, o, a):
         return cls(base.oa2r(o, a), check=False)
 
     @classmethod
-    def AngVec(cls, theta, v, *, unit='rad'):
+    def AngleAxis(cls, theta, v, *, unit='rad'):
         r"""
         Construct a new SO(3) rotation matrix from rotation angle and axis
 
@@ -550,7 +550,7 @@ def AngVec(cls, theta, v, *, unit='rad'):
         :return: SO(3) rotation
         :rtype: SO3 instance
 
-        ``SO3.AngVec(theta, V)`` is an SO(3) rotation defined by
+        ``SO3.AngleAxis(theta, V)`` is an SO(3) rotation defined by
         a rotation of ``THETA`` about the vector ``V``.
 
         .. note:: :math:`\theta \eq 0` the result in an identity matrix, otherwise
@@ -559,6 +559,30 @@ def AngVec(cls, theta, v, *, unit='rad'):
         :seealso: :func:`~spatialmath.pose3d.SE3.angvec`, :func:`spatialmath.base.transforms3d.angvec2r`
         """
         return cls(base.angvec2r(theta, v, unit=unit), check=False)
+        
+    @classmethod
+    def AngVec(cls, theta, v, *, unit='rad'):
+        r"""
+        Construct a new SO(3) rotation matrix from rotation angle and axis
+
+        :param theta: rotation
+        :type theta: float
+        :param unit: angular units: 'rad' [default], or 'deg'
+        :type unit: str
+        :param v: rotation axis, 3-vector
+        :type v: array_like
+        :return: SO(3) rotation
+        :rtype: SO3 instance
+
+        ``SO3.AngVec(theta, V)`` is an SO(3) rotation defined by
+        a rotation of ``THETA`` about the vector ``V``.
+
+        .. deprecated:: 0.9.8
+            Use :meth:`AngleAxis` instead.
+
+        :seealso: :func:`~spatialmath.pose3d.SE3.angvec`, :func:`spatialmath.base.transforms3d.angvec2r`
+        """
+        return cls(base.angvec2r(theta, v, unit=unit), check=False)
 
     @classmethod
     def EulerVec(cls, w):
@@ -1250,7 +1274,7 @@ def OA(cls, o, a):
         return cls(base.oa2tr(o, a), check=False)
 
     @classmethod
-    def AngVec(cls, theta, v, *, unit='rad'):
+    def AngleAxis(cls, theta, v, *, unit='rad'):
         r"""
         Create an SE(3) pure rotation matrix from rotation angle and axis
 
@@ -1263,7 +1287,7 @@ def AngVec(cls, theta, v, *, unit='rad'):
         :return: SE(3) matrix
         :rtype: SE3 instance
 
-        ``SE3.AngVec(θ, v)`` is an SE(3) rotation defined by
+        ``SE3.AngleAxis(θ, v)`` is an SE(3) rotation defined by
         a rotation of ``θ`` about the vector ``v``.
 
         .. math::
@@ -1278,6 +1302,30 @@ def AngVec(cls, theta, v, *, unit='rad'):
         """
         return cls(base.angvec2tr(theta, v, unit=unit), check=False)
 
+    @classmethod
+    def AngVec(cls, theta, v, *, unit='rad'):
+        r"""
+        Create an SE(3) pure rotation matrix from rotation angle and axis
+
+        :param θ: rotation
+        :type θ: float
+        :param unit: angular units: 'rad' [default], or 'deg'
+        :type unit: str
+        :param v: rotation axis, 3-vector
+        :type v: array_like
+        :return: SE(3) matrix
+        :rtype: SE3 instance
+
+        ``SE3.AngVec(θ, v)`` is an SE(3) rotation defined by
+        a rotation of ``θ`` about the vector ``v``.
+
+        .. deprecated:: 0.9.8
+            Use :meth:`AngleAxis` instead.
+
+        :seealso: :func:`~spatialmath.pose3d.SE3.angvec`, :func:`~spatialmath.pose3d.SE3.EulerVec`, :func:`~spatialmath.base.transforms3d.angvec2r`
+        """
+        return cls(base.angvec2tr(theta, v, unit=unit), check=False)
+
     @classmethod
     def EulerVec(cls, w):
         r"""
@@ -1396,7 +1444,7 @@ def Ty(cls, y):
         .. runblock:: pycon
 
             >>> SE3.Ty(2)
-            >>> SE3.Tz([2,3])
+            >>> SE3.Ty([2,3])
 
 
         :seealso: :func:`~spatialmath.base.transforms3d.transl`