@@ -115,42 +115,41 @@ def plot_point(
115115 Plot one or more points, with optional text label.
116116
117117 - The color of the marker can be different to the color of the text, the
118- marker color is specified by a single letter in the marker string.
118+ marker color is specified by a single letter in the marker string.
119119
120120 - A point can have multiple markers, given as a list, which will be
121- overlaid, for instance ``["rx", "ro"]`` will give a ⨂ symbol.
121+ overlaid, for instance ``["rx", "ro"]`` will give a ⨂ symbol.
122122
123123 - The optional text label is placed to the right of the marker, and
124- vertically aligned.
124+ vertically aligned.
125125
126126 - Multiple points can be marked if ``pos`` is a 2xn array or a list of
127- coordinate pairs. In this case:
127+ coordinate pairs. In this case:
128128
129129 - all points have the same ``text`` label
130130 - ``text`` can include the format string {} which is susbstituted for the
131- point index, starting at zero
131+ point index, starting at zero
132132 - ``text`` can be a tuple containing a format string followed by vectors
133- of shape(n). For example::
133+ of shape(n). For example::
134134
135- `` ("#{0} a={1:.1f}, b={2:.1f}", a, b)``
135+ ("#{0} a={1:.1f}, b={2:.1f}", a, b)
136136
137137 will label each point with its index (argument 0) and consecutive
138138 elements of ``a`` and ``b`` which are arguments 1 and 2 respectively.
139139
140140 Example::
141141
142- >>> from spatialmath.base import plotvol2, plot_text
142+ >>> from spatialmath.base import plotvol2, plot_point
143143 >>> plotvol2(5)
144- >>> plot_point((0, 0)) # plot default marker at coordinate (1,2)
144+ >>> plot_point((0,0)) # plot default marker at coordinate (1,2)
145145 >>> plot_point((1,1), 'r*') # plot red star at coordinate (1,2)
146- >>> plot_point((2,2), 'r*', 'foo') # plot red star at coordinate (1,2) and
147- label it as 'foo'
146+ >>> plot_point((2,2), 'r*', 'foo') # plot red star at coordinate (1,2) and label it as 'foo'
148147
149148 .. plot::
150149
151- from spatialmath.base import plotvol2, plot_text
150+ from spatialmath.base import plotvol2, plot_point
152151 ax = plotvol2(5)
153- plot_point((0, 0))
152+ plot_point((0,0))
154153 plot_point((1,1), 'r*')
155154 plot_point((2,2), 'r*', 'foo')
156155 ax.grid()
@@ -895,13 +894,15 @@ def plot_ellipse(
895894 The ellipse is defined by :math:`x^T \mat{E} x = s^2` where :math:`x \in
896895 \mathbb{R}^2` and :math:`s` is the scale factor.
897896
898- .. note:: For some common cases we require :math:`\mat{E}^{-1}`, for example
897+ .. note::
898+ For some common cases we require :math:`\mat{E}^{-1}`, for example:
899+
899900 - for robot manipulability
900- :math:`\nu (\mat{J} \mat{J}^T)^{-1} \nu` i
901+ :math:`\nu (\mat{J} \mat{J}^T)^{-1} \nu` i
901902 - a covariance matrix
902- :math:`(x - \mu)^T \mat{P}^{-1} (x - \mu)`
903- so to avoid inverting ``E`` twice to compute the ellipse, we flag that
904- the inverse is provided using ``inverted``.
903+ :math:`(x - \mu)^T \mat{P}^{-1} (x - \mu)`
904+ so to avoid inverting ``E`` twice to compute the ellipse, we flag that
905+ the inverse is provided using ``inverted``.
905906
906907 Returns a set of ``resolution`` that lie on the circumference of a circle
907908 of given ``center`` and ``radius``.
@@ -1150,7 +1151,7 @@ def plot_ellipsoid(
11501151 .. note::
11511152
11521153 - If a confidence interval is given then ``E`` is interpretted as a covariance
1153- matrix and the ellipse size is computed using an inverse chi-squared function.
1154+ matrix and the ellipse size is computed using an inverse chi-squared function.
11541155
11551156 :seealso: :func:`~matplotlib.pyplot.plot_surface`, :func:`~matplotlib.pyplot.plot_wireframe`
11561157 """
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