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Author: actions-user

2d_ellipse-1.pdf

@@ -1292,13 +1292,14 @@ <h1>SO(2) matrix<a class="headerlink" href="#so-2-matrix" title="Permalink to th
 
 <dl class="py method">
 <dt class="sig sig-object py" id="spatialmath.pose2d.SO2.interp">
-<span class="sig-name descname"><span class="pre">interp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SO2.interp" title="Permalink to this definition"></a></dt>
+<span class="sig-name descname"><span class="pre">interp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shortest</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SO2.interp" title="Permalink to this definition"></a></dt>
 <dd><p>Interpolate between poses (superclass method)</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
 <li><p><strong>s</strong> (<em>array_like</em><em> or </em><em>int</em>) – interpolation coefficient, range 0 to 1, or number of steps</p></li>
+<li><p><strong>shortest</strong> (<em>bool</em><em>, </em><em>default to True</em>) – take the shortest path along the great circle for the rotation</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns</dt>

2d_ellipse-2.pdf

@@ -1447,13 +1447,14 @@ <h1>SE(2) matrix<a class="headerlink" href="#se-2-matrix" title="Permalink to th
 
 <dl class="py method">
 <dt class="sig sig-object py" id="spatialmath.pose2d.SE2.interp">
-<span class="sig-name descname"><span class="pre">interp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SE2.interp" title="Permalink to this definition"></a></dt>
+<span class="sig-name descname"><span class="pre">interp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">end</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shortest</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.pose2d.SE2.interp" title="Permalink to this definition"></a></dt>
 <dd><p>Interpolate between poses (superclass method)</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>end</strong> (same as <code class="docutils literal notranslate"><span class="pre">self</span></code>) – final pose</p></li>
 <li><p><strong>s</strong> (<em>array_like</em><em> or </em><em>int</em>) – interpolation coefficient, range 0 to 1, or number of steps</p></li>
+<li><p><strong>shortest</strong> (<em>bool</em><em>, </em><em>default to True</em>) – take the shortest path along the great circle for the rotation</p></li>
 </ul>
 </dd>
 <dt class="field-even">Returns</dt>

2d_orient_SO2-1.pdf

@@ -701,11 +701,11 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Permalink to this
 <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="nn">spatialmath</span> <span class="kn">import</span> <span class="n">Twist3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist3</span><span class="p">(</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="n">S</span>
-<span class="go">Twist3([-0.0096108, 0.13661, 1.2874, -1.8586, -1.2044, -0.043502])</span>
+<span class="go">Twist3([-0.72372, 0.15896, 1.1698, 1.5402, 0.74391, 1.3487])</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
-<span class="go">Twist3([0.0096108, -0.13661, -1.2874, 1.8586, 1.2044, 0.043502])</span>
+<span class="go">Twist3([0.72372, -0.15896, -1.1698, -1.5402, -0.74391, -1.3487])</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">*</span> <span class="n">S</span><span class="o">.</span><span class="n">inv</span><span class="p">()</span>
-<span class="go">Twist3([-5.5511e-17, -1.1102e-16, -3.8858e-16, 0, 0, 0])</span>
+<span class="go">Twist3([-3.4001e-16, 0, 4.4409e-16, 0, 2.6021e-17, 0])</span>
 </pre></div>
 </div>
 </dd></dl>