8000 change geom3d class names · krishanrana/spatialmath-python@90b6166 · GitHub
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petercorkepetercorke
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change geom3d class names
Plucker -> Line3, Plane -> Plane3
1 parent 032bb60 commit 90b6166

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10 files changed

+115
-97
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10 files changed

+115
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‎docs/figs/classes.dot

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Original file line numberDiff line numberDiff line change
@@ -13,6 +13,7 @@ digraph G {
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Twist3 -> BaseTwist
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Quaternion -> BasePoseList
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UnitQuaternion -> Quaternion
16+
Line3 -> BasePoseList
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SpatialVector -> BasePoseList
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SpatialM6 -> SpatialVector
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SpatialF6 -> SpatialVector

‎docs/figs/classes.pdf

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‎docs/figs/classes.png

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‎docs/source/3d_plucker.rst renamed to ‎docs/source/3d_line.rst

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,9 @@
1-
Plucker line
2-
^^^^^^^^^^^^
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3D line
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^^^^^^^
33

4-
.. automodule:: spatialmath.geom3d.Plucker
4+
A 3D line using Plücker coordinates.
5+
6+
.. autoclass:: spatialmath.geom3d.Line3
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:members:
68
:undoc-members:
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:show-inheritance:

‎docs/source/3d_plane.rst

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@@ -1,9 +1,10 @@
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Plane
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^^^^^
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4-
.. automodule:: spatialmath.geom3d.Plane
4+
.. autoclass:: spatialmath.geom3d.Plane3
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:members:
66
:undoc-members:
77
:show-inheritance:
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:inherited-members:
9-
:special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__
9+
:special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__
10+

‎docs/source/intro.rst

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ orientation ``SO3`` ``UnitQuaternion`` ``SO2``
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Additional classes include:
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5757
- ``Quaternion`` a general quaternion, and parent class to ``UnitQuaternion``
58-
- ``Plucker`` to represent a line in 3D space
58+
- ``Line3`` to represent a line in 3D space
5959
- ``Plane`` to represent a plane in 3D space
6060

6161
These classes abstract, and implement appropriate operations, for the following
@@ -521,7 +521,7 @@ Spatial object equivalent class NumPy ndarray.shape
521521
n/a Quaternion (4,)
522522
================= ================ ===================
523523

524-
.. note:: ``SpatialVector`` and ``Plucker`` objects have no equivalent in the
524+
.. note:: ``SpatialVector`` and ``Line3`` objects have no equivalent in the
525525
``base`` package.
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527527
Inputs to functions in this package are either floats, lists, tuples or

‎spatialmath/__init__.py

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Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
from spatialmath.pose2d import SO2, SE2
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from spatialmath.pose3d import SO3, SE3
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from spatialmath.baseposematrix import BasePoseMatrix
4-
from spatialmath.geom3d import Plucker, Plane
4+
from spatialmath.geom3d import Line3, Plane3
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from spatialmath.twist import Twist3, Twist2
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from spatialmath.spatialvector import SpatialVelocity, SpatialAcceleration, \
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SpatialForce, SpatialMomentum, SpatialInertia

‎spatialmath/geom3d.py

Lines changed: 32 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
1414

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# ======================================================================== #
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17-
class Plane:
17+
class Plane3:
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r"""
1919
Create a plane object from linear coefficients
2020
@@ -126,7 +126,8 @@ def __str__(self):
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127127
# ======================================================================== #
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129-
class Plucker(BasePoseList):
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130+
class Line3(BasePoseList):
130131
"""
131132
Plucker coordinate class
132133
@@ -274,7 +275,7 @@ def TwoPoints(P=None, Q=None):
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# compute direction and moment
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w = P - Q
276277
v = np.cross(w, P)
277-
return Plucker(np.r_[v, w])
278+
return cls(np.r_[v, w])
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279280
@staticmethod
280281
def TwoPlanes(pi1, pi2):
@@ -297,17 +298,19 @@ def TwoPlanes(pi1, pi2):
297298
:seealso: Plucker, Plucker.PQ, Plucker.PointDir
298299
"""
299300

300-
if not isinstance(pi1, Plane):
301-
pi1 = Plane(base.getvector(pi1, 4))
302-
if not isinstance(pi2, Plane):
303-
pi2 = Plane(base.getvector(pi2, 4))
301+
# TODO inefficient to create 2 temporary planes
302+
303+
if not isinstance(pi1, Plane3):
304+
pi1 = Plane3(base.getvector(pi1, 4))
305+
if not isinstance(pi2, Plane3):
306+
pi2 = Plane3(base.getvector(pi2, 4))
304307

305308
w = np.cross(pi1.n, pi2.n)
306309
v = pi2.d * pi1.n - pi1.d * pi2.n
307-
return Plucker(np.r_[v, w])
310+
return cls(np.r_[v, w])
308311

309-
@staticmethod
310-
def PointDir(point, dir):
312+
@classmethod
313+
def PointDir(cls, point, dir):
311314
"""
312315
Create Plucker line from point and direction
313316
@@ -327,7 +330,7 @@ def PointDir(point, dir):
327330
p = base.getvector(point, 3)
328331
w = base.getvector(dir, 3)
329332
v = np.cross(w, p)
330-
return Plucker(np.r_[v, w])
333+
return cls(np.r_[v, w])
331334

332335
def append(self, x):
333336
"""
@@ -775,7 +778,7 @@ def commonperp(self, l2): # pylint: disable=no-self-argument
775778
10000 v = np.cross(l1.v, l2.w) - np.cross(l2.v, l1.w) + \
776779
(l1 * l2) * np.dot(l1.w, l2.w) * base.unitvec(np.cross(l1.w, l2.w))
777780

778-
return Plucker(v, w)
781+
return self.__class__(v, w)
779782

780783

781784
def __mul__(self, right): # pylint: disable=no-self-argument
@@ -826,7 +829,7 @@ def __rmul__(self, left): # pylint: disable=no-self-argument
826829
A = np.r_[ np.c_[left.R, base.skew(-left.t) @ left.R],
827830
np.c_[np.zeros((3,3)), left.R]
828831
]
829-
return Plucker( A @ right.vec) # premultiply by SE3
832+
return self.__class__( A @ right.vec) # premultiply by SE3
830833
else:
831834
raise ValueError('bad arguments')
832835

@@ -871,8 +874,8 @@ def intersect_plane(self, plane): # pylint: disable=no-self-argument
871874
# Note that this is in homogeneous coordinates.
872875
# intersection of plane (n,p) with the line (v,p)
873876
# returns point and line parameter
874-
if not isinstance(plane, Plane):
875-
plane = Plane(base.getvector(plane, 4))
877+
if not isinstance(plane, Plane3):
878+
plane = Plane3(base.getvector(plane, 4))
876879

877880
den = np.dot(self.w, plane.n)
878881

@@ -937,7 +940,7 @@ def intersect_volume(self, bounds):
937940
I = np.eye(3,3)
938941
p = [0, 0, 0]
939942
p[i] = bounds[face]
940-
plane = Plane.PN(n=I[:,i], p=p)
943+
plane = Plane3.PN(n=I[:,i], p=p)
941944

942945
# find where line pierces the plane
943946
try:
@@ -1121,13 +1124,24 @@ def _repr_pretty_(self, p, cycle):
11211124

11221125
# Static factory methods for constructors from exotic representations
11231126

1127+
class Plucker(Line3):
11241128

1129+
def __init__(self, v=None, w=None):
1130+
import warnings
1131+
1132+
warnings.warn('use Line class instead', DeprecationWarning)
1133+
super().__init__(v, w)
11251134

11261135
if __name__ == '__main__': # pragma: no cover
11271136

11281137
import pathlib
11291138
import os.path
1139+
1140+
a = Plane3([0.1, -1, -1, 2])
1141+
base.plotvol3(5)
1142+
a.plot(color='r', alpha=0.3)
1143+
plt.show(block=True)
11301144

1131-
a = SE3.Exp([2,0,0,0,0,0])
1145+
# a = SE3.Exp([2,0,0,0,0,0])
11321146

1133-
exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read()) # pylint: disable=exec-used
1147+
# exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read()) # pylint: disable=exec-used

‎spatialmath/twist.py

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@@ -6,7 +6,7 @@
66

77
from spatialmath.pose3d import SO3, SE3
88
from spatialmath.pose2d import SE2
9-
from spatialmath.geom3d import Plucker
9+
from spatialmath.geom3d import Line3
1010
import spatialmath.base as base
1111
from spatialmath.baseposelist import BasePoseList
1212

@@ -888,7 +888,7 @@ def line(self):
888888
Line of action of 3D twist as a Plucker line
889889
890890
:return: the 3D line of action
891-
:rtype: Plucker instance
891+
:rtype: Line instance
892892
893893
``X.line()`` is a Plucker object representing the line of the twist axis.
894894
@@ -901,7 +901,7 @@ def line(self):
901901
>>> S = Twist3(T)
902902
>>> S.line()
903903
"""
904-
return Plucker([Plucker(-tw.v - tw.pitch() * tw.w, tw.w) for tw in self])
904+
return Line3([Line3(-tw.v - tw.pitch() * tw.w, tw.w) for tw in self])
905905

906906
def pole(self):
907907
"""

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