exponentiate a twist with a scalar in rad (default) or deg

petercorke · petercorke · commit 4d0c79c79e2d · 2021-09-13T16:12:28.000+10:00
diff --git a/spatialmath/twist.py b/spatialmath/twist.py
@@ -1479,7 +1479,9 @@ def exp(self, theta=None, unit='rad'):
 
         :seealso: :func:`spatialmath.base.trexp2`
         """
-        return base.trexp2(theta)
+        theta = base.getunit(theta, unit)
+
+        return base.trexp2(self.S * theta)
 
 
     def unit(self):
