Update documentation

Author: actions-user

2d_ellipse.html

@@ -129,7 +129,7 @@ <h1>2D ellipse<a class="headerlink" href="#d-ellipse" title="Link to this headin
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">perim</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
 <span class="go">(2, 20)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">Ellipse</span><span class="o">.</span><span class="n">FromPerimeter</span><span class="p">(</span><span class="n">perim</span><span class="p">)</span>
-<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.7853981633974343)</span>
+<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.785398163397435)</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_SO3.html

@@ -505,9 +505,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SO3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">x</span> <span class="o">=</span> <span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
-<span class="go">SO3(array([[-0.5072887 ,  0.48758056, -0.7105796 ],</span>
-<span class="go">           [ 0.85660169,  0.19507041, -0.47768303],</span>
-<span class="go">           [-0.09429591, -0.85100689, -0.51661935]]))</span>
+<span class="go">SO3(array([[ 0.0084743 ,  0.33165172,  0.94336383],</span>
+<span class="go">           [ 0.95279317,  0.28365518, -0.10828164],</span>
+<span class="go">           [-0.30350183,  0.89974823, -0.31359171]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

3d_orient_unitquaternion.html

@@ -467,11 +467,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 <p>Example:</p>
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitQuaternion</span> <span class="k">as</span> <span class="n">UQ</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
-<span class="go"> 0.2131 &lt;&lt; -0.6618,  0.6920, -0.1941 &gt;&gt;</span>
+<span class="go"> 0.5187 &lt;&lt;  0.7907,  0.2955, -0.1357 &gt;&gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
-<span class="go"> 0.8534 &lt;&lt; -0.1730, -0.4143, -0.2649 &gt;&gt;</span>
-<span class="go"> 0.1530 &lt;&lt; -0.8004, -0.5438,  0.2006 &gt;&gt;</span>
-<span class="go"> 0.3217 &lt;&lt;  0.4938,  0.4411,  0.6768 &gt;&gt;</span>
+<span class="go"> 0.3798 &lt;&lt;  0.1501,  0.6617, -0.6288 &gt;&gt;</span>
+<span class="go"> 0.4844 &lt;&lt; -0.4088, -0.1961, -0.7482 &gt;&gt;</span>
+<span class="go"> 0.6645 &lt;&lt; -0.3094,  0.6709, -0.1122 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
@@ -1548,6 +1548,16 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 of the result matches the input’s sign, it is not forced
 positive.</p>
 </div>
+<div class="versionchanged">
+<p><span class="versionmodified changed">Changed in version 1.1.18: </span>Fixes a bug present in 1.1.17 and earlier: <code class="docutils literal notranslate"><span class="pre">UnitQuaternion.conj()</span></code>
+re-canonicalized its result’s sign, silently returning
+<span class="math notranslate nohighlight">\(-\bar{q}\)</span> instead of the true conjugate whenever <code class="docutils literal notranslate"><span class="pre">q</span></code> had
+negative scalar part. This broke any algebra relying on
+<span class="math notranslate nohighlight">\(q \cdot \bar{q} = 1\)</span>, including <code class="xref py py-class docutils literal notranslate"><span class="pre">DualQuaternion</span></code>
+translation extraction (<code class="docutils literal notranslate"><span class="pre">SE3()</span></code>), <code class="docutils literal notranslate"><span class="pre">norm()</span></code> (which could raise
+<code class="docutils literal notranslate"><span class="pre">ValueError</span></code> from taking the square root of a small negative
+float), and point transformation via <code class="docutils literal notranslate"><span class="pre">dq</span> <span class="pre">*</span> <span class="pre">v</span></code>.</p>
+</div>
 <p>Example:</p>
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">Quaternion</span><span class="p">,</span> <span class="n">UnitQuaternion</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span><span class="w"> </span><span class="nn">numpy</span><span class="w"> </span><span class="k">as</span><span class="w"> </span><span class="nn">np</span>

3d_pose_SE3.html

@@ -606,13 +606,13 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SE3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">SE3([</span>
-<span class="go">array([[-0.7705656 ,  0.45040853, -0.45095544,  0.71144933],</span>
-<span class="go">       [-0.62582888, -0.66867094,  0.40151885,  0.22547656],</span>
-<span class="go">       [-0.12069328,  0.59161755,  0.79713349,  0.70859241],</span>
+<span class="go">array([[-0.46089598, -0.80245139,  0.37900747,  0.54273952],</span>
+<span class="go">       [ 0.16714989, -0.49792306, -0.85096036,  0.86201404],</span>
+<span class="go">       [ 0.87157088, -0.32885316,  0.3636204 ,  0.23208914],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[ 0.02565476, -0.2991223 ,  0.95386985,  0.35702037],</span>
-<span class="go">       [-0.96114168, -0.26973477, -0.05873529, -0.84219433],</span>
-<span class="go">       [ 0.2748609 , -0.91529722, -0.29441889,  0.86653704],</span>
+<span class="go">array([[-0.41759189, -0.67119638,  0.61246423,  0.55408443],</span>
+<span class="go">       [-0.5851296 ,  0.71432788,  0.38387371,  0.8073223 ],</span>
+<span class="go">       [-0.69515492, -0.1980684 , -0.6910344 ,  0.43448602],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]) ])</span>
 </pre></div>
 </div>

3d_pose_dualquaternion.html

@@ -150,18 +150,18 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="go">   0.4662   -0.7297   -0.5002    0.5944    </span>
-<span class="go">  -0.8767   -0.3055   -0.3715   -0.07905   </span>
-<span class="go">   0.1183    0.6117   -0.7822    0.7367    </span>
+<span class="go">   0.9605    0.06313   0.2711   -0.7334    </span>
+<span class="go">  -0.07012   0.9974    0.01618   0.271     </span>
+<span class="go">  -0.2694   -0.03455   0.9624    0.2536    </span>
 <span class="go">   0         0         0         1         </span>
 
 <span class="gp">&gt;&gt;&gt; </span><span class="n">d</span> <span class="o">=</span> <span class="n">UnitDualQuaternion</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
-<span class="go"> 0.3076 &lt;&lt;  0.7991, -0.5026, -0.1195 &gt;&gt; + ε -0.2133 &lt;  0.2813,  0.3177, -0.0045 &gt;</span>
+<span class="go"> 0.9900 &lt;&lt; -0.0128,  0.1365, -0.0336 &gt;&gt; + ε -0.0189 &lt; -0.3849,  0.1202,  0.0772 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="o">.</span><span class="n">SE3</span><span class="p">())</span>
-<span class="go">   0.4662   -0.7297   -0.5002    0.5944    </span>
-<span class="go">  -0.8767   -0.3055   -0.3715   -0.07905   </span>
-<span class="go">   0.1183    0.6117   -0.7822    0.7367    </span>
+<span class="go">   0.9605    0.06313   0.2711   -0.7334    </span>
+<span class="go">  -0.07012   0.9974    0.01618   0.271     </span>
+<span class="go">  -0.2694   -0.03455   0.9624    0.2536    </span>
 <span class="go">   0         0         0         1         </span>
 
 </pre></div>
@@ -211,14 +211,14 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="go">  -0.5051    0.7634    0.4026    0.6804    </span>
-<span class="go">  -0.5502   -0.6442    0.5313   -0.4937    </span>
-<span class="go">   0.6649    0.04681   0.7454   -0.2911    </span>
+<span class="go">   0.4876    0.3117   -0.8156   -0.73      </span>
+<span class="go">   0.8644   -0.04053   0.5012   -0.1204    </span>
+<span class="go">   0.1232   -0.9493   -0.2891   -0.8508    </span>
 <span class="go">   0         0         0         1         </span>
 
 <span class="gp">&gt;&gt;&gt; </span><span class="n">d</span> <span class="o">=</span> <span class="n">UnitDualQuaternion</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
-<span class="go">-0.3860 &lt;&lt;  0.3137,  0.1699,  0.8507 &gt;&gt; + ε  0.0590 &lt; -0.3166, -0.2398,  0.1914 &gt;</span>
+<span class="go">-0.5380 &lt;&lt;  0.6740,  0.4362, -0.2568 &gt;&gt; + ε  0.1630 &lt;  0.3974, -0.3481,  0.1102 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
 <span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
 </pre></div>

3d_pose_twist.html

@@ -281,8 +281,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">Twist3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">Twist3([</span>
-<span class="go">  [-0.099484, 1.071, -0.40736, 1.0095, 1.4134, 1.1121],</span>
-<span class="go">  [0.18003, 0.46025, -0.91848, -1.9352, 0.10905, -2.2837]</span>
+<span class="go">  [-0.53188, -0.72532, 0.2037, 2.4141, 1.5592, 0.88453],</span>
+<span class="go">  [-0.035879, 0.67178, -0.79444, -2.3817, 0.8754, 0.63817]</span>
 <span class="go">])</span>
 </pre></div>
 </div>

3d_quaternion.html

@@ -900,6 +900,16 @@ <h1>Quaternion<a class="headerlink" href="#quaternion" title="Link to this headi
 of the result matches the input’s sign, it is not forced
 positive.</p>
 </div>
+<div class="versionchanged">
+<p><span class="versionmodified changed">Changed in version 1.1.18: </span>Fixes a bug present in 1.1.17 and earlier: <code class="docutils literal notranslate"><span class="pre">UnitQuaternion.conj()</span></code>
+re-canonicalized its result’s sign, silently returning
+<span class="math notranslate nohighlight">\(-\bar{q}\)</span> instead of the true conjugate whenever <code class="docutils literal notranslate"><span class="pre">q</span></code> had
+negative scalar part. This broke any algebra relying on
+<span class="math notranslate nohighlight">\(q \cdot \bar{q} = 1\)</span>, including <code class="xref py py-class docutils literal notranslate"><span class="pre">DualQuaternion</span></code>
+translation extraction (<code class="docutils literal notranslate"><span class="pre">SE3()</span></code>), <code class="docutils literal notranslate"><span class="pre">norm()</span></code> (which could raise
+<code class="docutils literal notranslate"><span class="pre">ValueError</span></code> from taking the square root of a small negative
+float), and point transformation via <code class="docutils literal notranslate"><span class="pre">dq</span> <span class="pre">*</span> <span class="pre">v</span></code>.</p>
+</div>
 <p>Example:</p>
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">Quaternion</span><span class="p">,</span> <span class="n">UnitQuaternion</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span><span class="w"> </span><span class="nn">numpy</span><span class="w"> </span><span class="k">as</span><span class="w"> </span><span class="nn">np</span>