change geom3d class names

petercorke · petercorke · commit 90b6166c1e65 · 2021-07-25T08:21:26.000+10:00
Plucker -&gt; Line3, Plane -&gt; Plane3
diff --git a/docs/figs/classes.dot b/docs/figs/classes.dot
@@ -13,6 +13,7 @@ digraph G {
 	Twist3 -> BaseTwist
 	Quaternion -> BasePoseList
 	UnitQuaternion -> Quaternion
+	Line3 -> BasePoseList
 	SpatialVector -> BasePoseList
 	SpatialM6 -> SpatialVector
 	SpatialF6 -> SpatialVector
diff --git a/docs/figs/classes.pdf b/docs/figs/classes.pdf
diff --git a/docs/figs/classes.png b/docs/figs/classes.png
diff --git a/docs/source/3d_line.rst b/docs/source/3d_line.rst
@@ -1,7 +1,9 @@
-Plucker line
-^^^^^^^^^^^^
+3D line 
+^^^^^^^
 
-.. automodule:: spatialmath.geom3d.Plucker
+A 3D line using Plücker coordinates.
+
+.. autoclass:: spatialmath.geom3d.Line3
    :members:
    :undoc-members:
    :show-inheritance:
diff --git a/docs/source/3d_plane.rst b/docs/source/3d_plane.rst
@@ -1,9 +1,10 @@
 Plane
 ^^^^^
 
-.. automodule:: spatialmath.geom3d.Plane
+.. autoclass:: spatialmath.geom3d.Plane3
    :members:
    :undoc-members:
    :show-inheritance:
    :inherited-members:
-   :special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__
+   :special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__
+   
diff --git a/docs/source/intro.rst b/docs/source/intro.rst
@@ -55,7 +55,7 @@ orientation   ``SO3`` ``UnitQuaternion``   ``SO2``
 Additional classes include:
 
 - ``Quaternion`` a general quaternion, and parent class to ``UnitQuaternion``
-- ``Plucker`` to represent a line in 3D space
+- ``Line3`` to represent a line in 3D space
 - ``Plane`` to represent a plane in 3D space
 
 These classes abstract, and implement appropriate operations, for the following
@@ -521,7 +521,7 @@ Spatial object       equivalent class   NumPy ndarray.shape
 n/a                  Quaternion            (4,)
 =================    ================   ===================
 
-.. note:: ``SpatialVector`` and ``Plucker`` objects have no equivalent in the 
+.. note:: ``SpatialVector`` and ``Line3`` objects have no equivalent in the 
   ``base`` package.
 
 Inputs to functions in this package are either floats, lists, tuples or
diff --git a/spatialmath/__init__.py b/spatialmath/__init__.py
@@ -1,7 +1,7 @@
 from spatialmath.pose2d import SO2, SE2
 from spatialmath.pose3d import SO3, SE3
 from spatialmath.baseposematrix import BasePoseMatrix
-from spatialmath.geom3d import Plucker, Plane
+from spatialmath.geom3d import Line3, Plane3
 from spatialmath.twist import Twist3, Twist2
 from spatialmath.spatialvector import SpatialVelocity, SpatialAcceleration, \
      SpatialForce, SpatialMomentum, SpatialInertia
diff --git a/spatialmath/geom3d.py b/spatialmath/geom3d.py
@@ -14,7 +14,7 @@
 
 # ======================================================================== #
 
-class Plane:
+class Plane3:
     r"""
     Create a plane object from linear coefficients
     
@@ -126,7 +126,8 @@ def __str__(self):
 
 # ======================================================================== #
 
-class Plucker(BasePoseList):
+
+class Line3(BasePoseList):
     """
     Plucker coordinate class
     
@@ -274,7 +275,7 @@ def TwoPoints(P=None, Q=None):
         # compute direction and moment
         w = P - Q
         v = np.cross(w, P)
-        return Plucker(np.r_[v, w])
+        return cls(np.r_[v, w])
     
     @staticmethod
     def TwoPlanes(pi1, pi2):
@@ -297,17 +298,19 @@ def TwoPlanes(pi1, pi2):
         :seealso: Plucker, Plucker.PQ, Plucker.PointDir
         """
 
-        if not isinstance(pi1, Plane):
-            pi1 = Plane(base.getvector(pi1, 4))
-        if not isinstance(pi2, Plane):
-            pi2 = Plane(base.getvector(pi2, 4))
+        # TODO inefficient to create 2 temporary planes
+
+        if not isinstance(pi1, Plane3):
+            pi1 = Plane3(base.getvector(pi1, 4))
+        if not isinstance(pi2, Plane3):
+            pi2 = Plane3(base.getvector(pi2, 4))
         
         w = np.cross(pi1.n, pi2.n)
         v = pi2.d * pi1.n - pi1.d * pi2.n
-        return Plucker(np.r_[v, w])
+        return cls(np.r_[v, w])
 
-    @staticmethod
-    def PointDir(point, dir):
+    @classmethod
+    def PointDir(cls, point, dir):
         """
         Create Plucker line from point and direction
         
@@ -327,7 +330,7 @@ def PointDir(point, dir):
         p = base.getvector(point, 3)
         w = base.getvector(dir, 3)
         v = np.cross(w, p)
-        return Plucker(np.r_[v, w])
+        return cls(np.r_[v, w])
     
     def append(self, x):
         """
@@ -775,7 +778,7 @@ def commonperp(self, l2):  # pylint: disable=no-self-argument
             v = np.cross(l1.v, l2.w) - np.cross(l2.v, l1.w) + \
                 (l1 * l2) * np.dot(l1.w, l2.w) * base.unitvec(np.cross(l1.w, l2.w))
             
-        return Plucker(v, w)
+        return self.__class__(v, w)
 
 
     def __mul__(self, right):  # pylint: disable=no-self-argument
@@ -826,7 +829,7 @@ def __rmul__(self, left):  # pylint: disable=no-self-argument
             A = np.r_[ np.c_[left.R,          base.skew(-left.t) @ left.R],
                        np.c_[np.zeros((3,3)), left.R]
                         ]
-            return Plucker( A @ right.vec)  # premultiply by SE3
+            return self.__class__( A @ right.vec)  # premultiply by SE3
         else:
             raise ValueError('bad arguments')
 
@@ -871,8 +874,8 @@ def intersect_plane(self, plane):  # pylint: disable=no-self-argument
         # Note that this is in homogeneous coordinates.
         #    intersection of plane (n,p) with the line (v,p)
         #    returns point and line parameter
-        if not isinstance(plane, Plane):
-            plane = Plane(base.getvector(plane, 4))
+        if not isinstance(plane, Plane3):
+            plane = Plane3(base.getvector(plane, 4))
             
         den = np.dot(self.w, plane.n)
         
@@ -937,7 +940,7 @@ def intersect_volume(self, bounds):
             I = np.eye(3,3)
             p = [0, 0, 0]
             p[i] = bounds[face]
-            plane = Plane.PN(n=I[:,i], p=p)
+            plane = Plane3.PN(n=I[:,i], p=p)
             
             # find where line pierces the plane
             try:
@@ -1121,13 +1124,24 @@ def _repr_pretty_(self, p, cycle):
         
     # Static factory methods for constructors from exotic representations
 
+class Plucker(Line3):
 
+    def __init__(self, v=None, w=None):
+        import warnings
+
+        warnings.warn('use Line class instead', DeprecationWarning)
+        super().__init__(v, w)
     
 if __name__ == '__main__':   # pragma: no cover
 
     import pathlib
     import os.path
+
+    a = Plane3([0.1, -1, -1, 2])
+    base.plotvol3(5)
+    a.plot(color='r', alpha=0.3)
+    plt.show(block=True)
     
-    a = SE3.Exp([2,0,0,0,0,0])
+    # a = SE3.Exp([2,0,0,0,0,0])
 
-    exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read())  # pylint: disable=exec-used
+    # exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read())  # pylint: disable=exec-used
diff --git a/spatialmath/twist.py b/spatialmath/twist.py
@@ -6,7 +6,7 @@
 
 from spatialmath.pose3d import SO3, SE3
 from spatialmath.pose2d import SE2
-from spatialmath.geom3d import Plucker
+from spatialmath.geom3d import Line3
 import spatialmath.base as base
 from spatialmath.baseposelist import BasePoseList
 
@@ -888,7 +888,7 @@ def line(self):
         Line of action of 3D twist as a Plucker line
 
         :return: the 3D line of action
-        :rtype: Plucker instance
+        :rtype: Line instance
 
         ``X.line()`` is a Plucker object representing the line of the twist axis.
 
@@ -901,7 +901,7 @@ def line(self):
             >>> S = Twist3(T)
             >>> S.line()
         """
-        return Plucker([Plucker(-tw.v - tw.pitch() * tw.w, tw.w) for tw in self])
+        return Line3([Line3(-tw.v - tw.pitch() * tw.w, tw.w) for tw in self])
 
     def pole(self):
         """
diff --git a/tests/test_geom3d.py b/tests/test_geom3d.py
