Update documentation

Author: actions-user

2d_ellipse-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([-0.58708, -0.058682, -0.2815, -1.8069, 0.3976, 1.0293])</span>
+<span class="go">Twist3([-0.10433, 0.79314, -1.2976, 1.6354, 0.12838, -1.8001])</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([0.58708, 0.058682, 0.2815, 1.8069, -0.3976, -1.0293])</span>
+<span class="go">Twist3([0.10433, -0.79314, 1.2976, -1.6354, -0.12838, 1.8001])</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([0, -1.1102e-16, 0, 0, 0, 0])</span>
+<span class="go">Twist3([1.1102e-16, -2.2204e-16, 1.1102e-16, 0, 0, 0])</span>
 </pre></div>
 </div>
 </dd></dl>

2d_ellipse-2.pdf

@@ -504,9 +504,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Permalink to th
 <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">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([[ 0.4519,  0.3502,  0.8204],</span>
-<span class="go">           [ 0.4866, -0.8676,  0.1023],</span>
-<span class="go">           [ 0.7477,  0.353 , -0.5625]]))</span>
+<span class="go">SO3(array([[ 0.122 ,  0.7458, -0.6548],</span>
+<span class="go">           [-0.7537,  0.4989,  0.4278],</span>
+<span class="go">           [ 0.6458,  0.4413,  0.623 ]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

2d_orient_SO2-1.pdf

@@ -451,11 +451,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
 <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="nn">spatialmath</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"> 0.6181 &lt;&lt;  0.3107,  0.2247, -0.6862 &gt;&gt;</span>
+<span class="go"> 0.4393 &lt;&lt;  0.5505, -0.6984,  0.1274 &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"> 0.3229 &lt;&lt; -0.6699, -0.0897,  0.6625 &gt;&gt;</span>
-<span class="go"> 0.4668 &lt;&lt;  0.0441,  0.5175,  0.7158 &gt;&gt;</span>
-<span class="go"> 0.4366 &lt;&lt; -0.2862,  0.0007,  0.8529 &gt;&gt;</span>
+<span class="go"> 0.4616 &lt;&lt;  0.0839, -0.3794, -0.7975 &gt;&gt;</span>
+<span class="go"> 0.5928 &lt;&lt;  0.0547, -0.4588, -0.6596 &gt;&gt;</span>
+<span class="go"> 0.4361 &lt;&lt; -0.2856, -0.6933,  0.4976 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
@@ -1604,11 +1604,14 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Permalin
 
 <dl class="py method">
 <dt class="sig sig-object py" id="spatialmath.quaternion.UnitQuaternion.exp">
-<span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.quaternion.UnitQuaternion.exp" title="Permalink to this definition"></a></dt>
+<span class="sig-name descname"><span class="pre">exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">100</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#spatialmath.quaternion.UnitQuaternion.exp" title="Permalink to this definition"></a></dt>
 <dd><p>Exponential of quaternion</p>
 <dl class="field-list simple">
-<dt class="field-odd">Return type</dt>
-<dd class="field-odd"><p>Quaternion instance</p>
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>tol</strong> (<em>float</em><em>, </em><em>optional</em>) – Tolerance when checking for pure quaternion, in multiples of eps, defaults to 100</p>
+</dd>
+<dt class="field-even">Return type</dt>
+<dd class="field-even"><p>Quaternion instance</p>
 </dd>
 </dl>
 <p><code class="docutils literal notranslate"><span class="pre">q.exp()</span></code> is the exponential of the quaternion <code class="docutils literal notranslate"><span class="pre">q</span></code>, ie.</p>