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petercorkepetercorke
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Major update
moved tests to own folders and update __main__ code in each module major polish of twist code and doco, 2d and 3d minor polish of other code and doco lgtm pragmas added
1 parent 45daa55 commit 43dfeb7

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‎README.md

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# Spatial Maths for Python
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[![PyPI pyversions](https://img.shields.io/pypi/pyversions/spatialmath-python.svg)](https://pypi.python.org/pypi/spatialmath-python/)
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![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
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[![pypi downloads](https://img.shields.io/pypi/dw/spatialmath-python)
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![PyPI version](https://badge.fury.io/py/spatialmath-python.svg)](https://badge.fury.io/py/spatialmath-python)
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[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/petercorke/spatialmath-python.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/petercorke/spatialmath-python/context:python)

‎docs/source/2d_pose_twist.rst

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se(2) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist2
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.. autoclass:: spatialmath.Twist2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop, __add__,

‎docs/source/3d_pose_twist.rst

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se(3) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist3
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.. autoclass:: spatialmath.Twist3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop, __add__,

‎docs/source/classes-2d.rst

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2D-space
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========
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Pose in 2D
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----------
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SE(2) matrix
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^^^^^^^^^^^^
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.. autclass:: spatialmath.pose2d.SE2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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se(2) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Orientation in 2D
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-----------------
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SO(2) matrix
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^^^^^^^^^^^^
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.. autclass:: spatialmath.pose2d.SO2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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‎docs/source/classes-3d.rst

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3D-space
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========
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Pose in 3D
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----------
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SE(3) matrix
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^^^^^^^^^^^^
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.. autoclass:: spatialmath.pose3d.SE3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop
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se(3) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Orientation in 3D
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-----------------
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SO(3) matrix
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^^^^^^^^^^^^
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.. autoclass:: spatialmath.pose3d.SO3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Unit quaternion
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^^^^^^^^^^^^^^^
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.. autoclass:: spatialmath.quaternion.UnitQuaternion
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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6D spatial vectors
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------------------
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.. automodule:: spatialmath.spatialvector
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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General quaternions
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-------------------
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.. autoclass:: spatialmath.quaternion.Quaternion
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Geometry
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--------
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.. automodule:: spatialmath.geom3d
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__

‎spatialmath/base/argcheck.py

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@@ -397,7 +397,7 @@ def isvector(v, dim=None):
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return False
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def getunit(v, unit):
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def getunit(v, unit='rad'):
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"""
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Convert value according to angular units
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if __name__ == '__main__':
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import pathlib
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_argcheck.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_argcheck.py").read()) # pylint: disable=exec-used

‎spatialmath/base/quaternions.py

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if __name__ == '__main__': # pragma: no cover
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import pathlib
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_quaternions.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_quaternions.py").read()) # pylint: disable=exec-used

‎spatialmath/base/test_argcheck.py renamed to ‎spatialmath/base/test/test_argcheck.py

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‎spatialmath/base/test_quaternions.py renamed to ‎spatialmath/base/test/test_quaternions.py

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‎spatialmath/base/test_symbolic.py renamed to ‎spatialmath/base/test/test_symbolic.py

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‎spatialmath/base/test_transforms.py renamed to ‎spatialmath/base/test/test_transforms.py

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‎spatialmath/base/test_transforms2d.py renamed to ‎spatialmath/base/test/test_transforms2d.py

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‎spatialmath/base/test_transforms3d.py renamed to ‎spatialmath/base/test/test_transforms3d.py

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‎spatialmath/base/test_transformsNd.py renamed to ‎spatialmath/base/test/test_transformsNd.py

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‎spatialmath/base/test_vectors.py renamed to ‎spatialmath/base/test/test_vectors.py

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‎spatialmath/base/transforms2d.py

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@@ -392,6 +392,21 @@ def trexp2(S, theta=None, check=True):
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else:
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raise ValueError(" First argument must be SO(2), 1-vector, SE(2) or 3-vector")
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395+
def adjoint2(T):
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# http://ethaneade.com/lie.pdf
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Z = np.zeros((2,2), dtype=T.dtype)
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if T.shape == (3,3):
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# SO(2) adjoint
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return np.identity(2)
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elif T.shape == (3,3):
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# SE(2) adjoint
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(R, t) = base.tr2rt(T)
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return np.block([
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[R, np.c_[t[1], -t[0]].T],
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[0, 0, 1]
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])
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else:
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raise ValueError('bad argument')
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def trinterp2(start, end, s=None):
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"""
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# trplot2( transl2(4, 3)@trot2(math.pi/3), color='green', frame='c')
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# plt.grid(True)
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_transforms2d.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_transforms2d.py").read()) # pylint: disable=exec-used

‎spatialmath/base/transforms3d.py

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@@ -1534,6 +1534,25 @@ def tr2jac(T, samebody=False):
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R = base.t2r(T)
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return np.block([[R.T, Z], [Z, R.T]])
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def adjoint(T):
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# http://ethaneade.com/lie.pdf
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Z = np.zeros((3, 3), dtype=T.dtype)
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if T.shape == (3,3):
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# SO(3) adjoint
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return np.block([
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[R, Z],
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[Z, R]
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])
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elif T.shape == (4,4):
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# SE(3) adjoint
1548+
(R, t) = base.tr2rt(T)
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return np.block([
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[R, base.skew(t) @ R],
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[Z, R]
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])
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else:
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raise ValueError('bad argument')
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def trprint(T, orient='rpy/zyx', label=None, file=sys.stdout, fmt='{:8.2g}', degsym=True, unit='deg'):
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a,b,c = base.sym.symbol('a,b,c')
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T = rpy2r(a,b,c)
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_transforms3d.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_transforms3d.py").read()) # pylint: disable=exec-used
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‎spatialmath/base/transformsNd.py

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"""
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v = base.getvector(v, None, 'sequence')
426426
if len(v) == 1:
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s = np.array([
428-
[0, -v[0]],
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[v[0], 0]])
427+
return np.array([
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[ 0, -v[0] ],
429+
[ v[0], 0] ]
430+
)
430431
elif len(v) == 3:
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s = np.array([
432-
[0, -v[2], v[1]],
433-
[v[2], 0, -v[0]],
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[-v[1], v[0], 0]])
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return np.array([
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[ 0, -v[2], v[1] ],
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[ v[2], 0, -v[0] ],
435+
[-v[1], v[ BE5C 0], 0] ]
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)
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return s
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# ---------------------------------------------------------------------------------------#
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if __name__ == '__main__': # pragma: no cover
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_transformsNd.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_transformsNd.py").read()) # pylint: disable=exec-used

‎spatialmath/pose2d.py

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exec(open(pathlib.Path(__file__).parent.absolute() / "test_pose2d.py").read()) # pylint: disable=exec-used
496+
exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_pose2d.py").read()) # pylint: disable=exec-used

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