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=0.785398163397435)</span>
+<span class="go">Ellipse(radii=[1.+0.j 2.-0.j], centre=[3. 4.], theta=0.7853981633974343)</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

2d_pose_twist.html

@@ -866,11 +866,14 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
 Twist <code class="docutils literal notranslate"><span class="pre">S</span></code>.</p></li>
 </ul>
 <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">SE2</span><span class="p">,</span> <span class="n">Twist2</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE2</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist2</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">unit</span><span class="p">()</span>
-<span class="go">Twist2([4.3083, 6.1166, 1])</span>
+<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gt">Traceback (most recent call last):</span>
+  File <span class="nb">"&lt;input&gt;"</span>, line <span class="m">1</span>, in <span class="n">&lt;module&gt;</span>
+  File <span class="nb">"/opt/hostedtoolcache/Python/3.12.14/x64/lib/python3.12/site-packages/spatialmath/twist.py"</span>, line <span class="m">1634</span>, in <span class="n">unit</span>
+<span class="w">    </span><span class="k">return</span> <span class="n">Twist2</span><span class="p">(</span><span class="n">smb</span><span class="o">.</span><span class="n">unitvec</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">v</span><span class="p">),</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+<span class="w">           </span><span class="pm">^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^</span>
+  File <span class="nb">"/opt/hostedtoolcache/Python/3.12.14/x64/lib/python3.12/site-packages/spatialmath/twist.py"</span>, line <span class="m">1297</span>, in <span class="n">__init__</span>
+<span class="w">    </span><span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">"bad twist value"</span><span class="p">)</span>
+<span class="gr">ValueError</span>: <span class="n">bad twist value</span>
 </pre></div>
 </div>
 </dd></dl>
@@ -957,11 +960,14 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
 homogeneous transformation.</p></li>
 </ul>
 <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">SE2</span><span class="p">,</span> <span class="n">Twist2</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE2</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist2</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">unit</span><span class="p">()</span>
-<span class="go">Twist2([4.3083, 6.1166, 1])</span>
+<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gt">Traceback (most recent call last):</span>
+  File <span class="nb">"&lt;input&gt;"</span>, line <span class="m">1</span>, in <span class="n">&lt;module&gt;</span>
+  File <span class="nb">"/opt/hostedtoolcache/Python/3.12.14/x64/lib/python3.12/site-packages/spatialmath/twist.py"</span>, line <span class="m">1634</span>, in <span class="n">unit</span>
+<span class="w">    </span><span class="k">return</span> <span class="n">Twist2</span><span class="p">(</span><span class="n">smb</span><span class="o">.</span><span class="n">unitvec</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">v</span><span class="p">),</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+<span class="w">           </span><span class="pm">^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^</span>
+  File <span class="nb">"/opt/hostedtoolcache/Python/3.12.14/x64/lib/python3.12/site-packages/spatialmath/twist.py"</span>, line <span class="m">1297</span>, in <span class="n">__init__</span>
+<span class="w">    </span><span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">"bad twist value"</span><span class="p">)</span>
+<span class="gr">ValueError</span>: <span class="n">bad twist value</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
@@ -1058,14 +1064,12 @@ <h1>se(2) twist<a class="headerlink" href="#se-2-twist" title="Link to this head
 <dd class="field-even"><p>ndarray(2)</p>
 </dd>
 </dl>
-<p><code class="docutils literal notranslate"><span class="pre">X.pole</span></code> is a point on the twist axis. For a pure translation
+<p><code class="docutils literal notranslate"><span class="pre">X.pole()</span></code> is a point on the twist axis. For a pure translation
 this point is at infinity.</p>
 <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">SE2</span><span class="p">,</span> <span class="n">Twist2</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE2</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span> <span class="o">=</span> <span class="n">Twist2</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">S</span><span class="o">.</span><span class="n">pole</span>
-<span class="go">array([-1.83497745,  1.29248873])</span>
+<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gt">Traceback (most recent call last):</span>
+  File <span class="nb">"&lt;input&gt;"</span>, line <span class="m">1</span>, in <span class="n">&lt;module&gt;</span>
+<span class="gr">TypeError</span>: <span class="n">'numpy.ndarray' object is not callable</span>
 </pre></div>
 </div>
 </dd></dl>

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([[ 0.0084743 ,  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>
+<span class="go">SO3(array([[ 0.80291147,  0.34725109,  0.48450991],</span>
+<span class="go">           [ 0.58155051, -0.27783983, -0.76459403],</span>
+<span class="go">           [-0.13088996,  0.8956683 , -0.42502484]]))</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"> 0.5187 &lt;&lt;  0.7907,  0.2955, -0.1357 &gt;&gt;</span>
+<span class="go"> 0.7312 &lt;&lt;  0.0748, -0.5543, -0.3905 &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"> 0.3798 &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>
+<span class="go"> 0.1084 &lt;&lt; -0.6115,  0.7367,  0.2678 &gt;&gt;</span>
+<span class="go"> 0.5411 &lt;&lt;  0.5484,  0.4907,  0.4071 &gt;&gt;</span>
+<span class="go"> 0.0913 &lt;&lt; -0.2950,  0.7966, -0.5197 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
@@ -1530,44 +1530,10 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 </dl>
 <p><code class="docutils literal notranslate"><span class="pre">q.conj()</span></code> is the quaternion <code class="docutils literal notranslate"><span class="pre">q</span></code> with the vector part negated, ie.
 <span class="math notranslate nohighlight">\(q = s \langle -v_x, -v_y, -v_z \rangle\)</span></p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>For a <code class="docutils literal notranslate"><span class="pre">UnitQuaternion</span></code> this deliberately does <strong>not</strong>
-canonicalize the result’s scalar part to be non-negative, unlike
-normal <code class="docutils literal notranslate"><span class="pre">UnitQuaternion</span></code> construction. <code class="docutils literal notranslate"><span class="pre">UnitQuaternion</span></code>
-construction canonicalizes because <span class="math notranslate nohighlight">\(q\)</span> and <span class="math notranslate nohighlight">\(-q\)</span>
-represent the same rotation, which is the right behaviour when
-building a unit quaternion from arbitrary data. But conjugation
-is an algebraic operation, not a re-representation of a
-rotation: it must satisfy <span class="math notranslate nohighlight">\(q \cdot \bar{q} = 1\)</span> for any
-downstream algebra to be correct (e.g. dual-quaternion
-translation extraction, which relies on exactly this identity).
-Re-canonicalizing the conjugate would silently return
-<span class="math notranslate nohighlight">\(-\bar{q}\)</span> whenever <code class="docutils literal notranslate"><span class="pre">q</span></code> has negative scalar part,
-breaking that identity. See the example below: the scalar part
-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>
+<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="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">Quaternion</span><span class="o">.</span><span class="n">Pure</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">])</span><span class="o">.</span><span class="n">conj</span><span class="p">())</span>
 <span class="go"> 0.0000 &lt; -1.0000, -2.0000, -3.0000 &gt;</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="n">q</span> <span class="o">=</span> <span class="n">UnitQuaternion</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([[</span><span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">]]),</span> <span class="n">norm</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">q</span><span class="p">)</span>
-<span class="go">-0.5000 &lt;&lt;  0.5000,  0.5000,  0.5000 &gt;&gt;</span>
-<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">conj</span><span class="p">())</span>
-<span class="go">-0.5000 &lt;&lt; -0.5000, -0.5000, -0.5000 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">

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([[-0.46089598, -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">array([[ 0.79842012,  0.56002555,  0.22112597,  0.8167405 ],</span>
+<span class="go">       [ 0.60186902, -0.75252828, -0.26731044,  0.2258387 ],</span>
+<span class="go">       [ 0.01670287,  0.3465149 , -0.93789575,  0.76957197],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</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">array([[ 0.55184684, -0.83364037, -0.02255668,  0.43068057],</span>
+<span class="go">       [ 0.76523045,  0.49543915,  0.41105038,  0.93803726],</span>
+<span class="go">       [-0.33149273, -0.24409791,  0.91133352, -0.04372957],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]) ])</span>
 </pre></div>
 </div>