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petercorkepetercorke
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Major update
moved tests to own folders and update __main__ code in each module major polish of twist code and doco, 2d and 3d minor polish of other code and doco lgtm pragmas added
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‎README.md‎

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# Spatial Maths for Python
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[![PyPI pyversions](https://img.shields.io/pypi/pyversions/spatialmath-python.svg)](https://pypi.python.org/pypi/spatialmath-python/)
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![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
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[![pypi downloads](https://img.shields.io/pypi/dw/spatialmath-python)
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![PyPI version](https://badge.fury.io/py/spatialmath-python.svg)](https://badge.fury.io/py/spatialmath-python)
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[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/petercorke/spatialmath-python.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/petercorke/spatialmath-python/context:python)

‎docs/source/2d_pose_twist.rst‎

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se(2) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist2
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.. autoclass:: spatialmath.Twist2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop, __add__,

‎docs/source/3d_pose_twist.rst‎

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se(3) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist3
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.. autoclass:: spatialmath.Twist3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop, __add__,

‎docs/source/classes-2d.rst‎

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2D-space
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========
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Pose in 2D
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----------
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SE(2) matrix
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^^^^^^^^^^^^
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.. autclass:: spatialmath.pose2d.SE2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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se(2) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Orientation in 2D
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-----------------
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SO(2) matrix
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^^^^^^^^^^^^
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.. autclass:: spatialmath.pose2d.SO2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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‎docs/source/classes-3d.rst‎

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3D-space
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========
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Pose in 3D
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----------
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SE(3) matrix
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^^^^^^^^^^^^
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.. autoclass:: spatialmath.pose3d.SE3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove, arghandler, binop, unop
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se(3) twist
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^^^^^^^^^^^
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.. automodule:: spatialmath.Twist3
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Orientation in 3D
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-----------------
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SO(3) matrix
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^^^^^^^^^^^^
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.. autoclass:: spatialmath.pose3d.SO3
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:undoc-members:
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:inherited-members:
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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:exclude-members: count, copy, index, sort, remove
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Unit quaternion
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^^^^^^^^^^^^^^^
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.. autoclass:: spatialmath.quaternion.UnitQuaternion
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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6D spatial vectors
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------------------
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.. automodule:: spatialmath.spatialvector
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General quaternions
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-------------------
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.. autoclass:: spatialmath.quaternion.Quaternion
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:special-members: __mul__, __truediv__, __add__, __sub__, __eq__, __ne__, __pow__, __init__
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Geometry
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--------
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.. automodule:: spatialmath.geom3d
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:special-members: __mul__, __rmul__, __eq__, __ne__, __init__, __or__, __xor__

‎spatialmath/base/argcheck.py‎

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def getunit(v, unit):
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def getunit(v, unit='rad'):
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_argcheck.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_argcheck.py").read()) # pylint: disable=exec-used

‎spatialmath/base/quaternions.py‎

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if __name__ == '__main__': # pragma: no cover
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exec(open(pathlib.Path(__file__).parent.absolute() / "test_quaternions.py").read()) # pylint: disable=exec-used
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exec(open(pathlib.Path(__file__).parent.absolute() / "test" / "test_quaternions.py").read()) # pylint: disable=exec-used

spatialmath/base/test_argcheck.py renamed to spatialmath/base/test/test_argcheck.py

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spatialmath/base/test_quaternions.py renamed to spatialmath/base/test/test_quaternions.py

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spatialmath/base/test_symbolic.py renamed to spatialmath/base/test/test_symbolic.py

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