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1711 lines (1367 loc) · 60.9 KB
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# Part of Spatial Math Toolbox for Python
# Copyright (c) 2000 Peter Corke
# MIT Licence, see details in top-level file: LICENCE
from __future__ import annotations
import numpy as np
# try: # pragma: no cover
# # print('Using SymPy')
# from sympy.core.singleton import S
# _symbolics = True
# except ImportError: # pragma: no cover
# _symbolics = False
import spatialmath.base as smb
from spatialmath.base.types import *
from spatialmath.baseposelist import BasePoseList
_eps = np.finfo(np.float64).eps
# colored printing of matrices to the terminal
# colored package has much finer control than colorama, but the latter is available by default with anaconda
try:
from colored import fg, bg, attr
_colored = True
# print('using colored output')
except ImportError:
# print('colored not found')
_colored = False
except AttributeError:
# print('colored failed to load, can happen from MATLAB import')
_colored = False
try:
from ansitable import ANSIMatrix
_ANSIMatrix = True
# print('using colored output')
except ImportError:
# print('colored not found')
_ANSIMatrix = False
class BasePoseMatrix(BasePoseList):
"""
Superclass for SO(N) and SE(N) objects
Subclasses are:
- ``SO2`` representing elements of SO(2) which describe rotations in 2D
- ``SE2`` representing elements of SE(2) which describe rigid-body motion in 2D
- ``SO3`` representing elements of SO(3) which describe rotations in 3D
- ``SE3`` representing elements of SE(3) which describe rigid-body motion in 3D
Arithmetic operators are overloaded but the operation they perform depend
on the types of the operands. For example:
- ``*`` will compose two instances of the same subclass, and the result will
be an instance of the same subclass, since this is a group operator.
- ``+`` will add two instances of the same subclass, and the result will be
a matrix, not an instance of the same subclass, since addition is not a group operator.
These classes all inherit from ``UserList`` which enables them to
represent a sequence of values, ie. an ``SE3`` instance can contain
a sequence of SE(3) values. Most of the Python ``list`` operators
are applicable::
>>> x = SE3() # new instance with identity matrix value
>>> len(x) # it is a sequence of one value
1
>>> x.append(x) # append to itself
>>> len(x) # it is a sequence of two values
2
>>> x[1] # the element has a 4x4 matrix value
SE3([
array([[1., 0., 0., 0.],
[0., 1., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]]) ])
>>> x[1] = SE3.Rx(0.3) # set an elements of the sequence
>>> x.reverse() # reverse the elements in the sequence
>>> del x[1] # delete an element
For console printing colorization is supported if the package ``colored``
is installed. Class variables control the colorization and can be assigned
to at any time.
=============== =================== ============================================
Variable Default Description
=============== =================== ============================================
_rotcolor 'red' Foreground color of rotation submatrix
_transcolor 'blue' Foreground color of rotation submatrix
_constcolor 'grey_50' Foreground color of matrix constant elements
_bgcolor None Background color of matrix
_indexcolor (None, 'yellow_2') Foreground, background color of index tag
_format '{:< 12g}' Format string for each matrix element
_suppress_small True Suppress *small* values, set to zero
_suppress_tol 100 Threshold for *small* values in eps units
_ansimatrix False Display with matrix brackets
=============== =================== ============================================
If color is specified as ``None`` it means no colorization is performed.
For example::
>> SE3._bgcolor = None
>> SE3._indexcolor = ('green', None)
.. note:: The ``_ansimatrix`` option requires that the ``ansitable`` package
is installed. It does not currently support colorization of elements.
"""
_rotcolor = "red"
_transcolor = "blue"
_bgcolor = None
_constcolor = "grey_50"
_indexcolor = (None, "yellow_2")
_format = "{:< 9.4g}"
_suppress_small = True
_suppress_tol = 100
_color = _colored
_ansimatrix = False
_ansiformatter = None
__array_ufunc__ = None # allow pose matrices operators with NumPy values
def __new__(cls, *args, **kwargs):
"""
Create the subclass instance (superclass method)
Create a new instance and call the superclass initializer to enable the
``UserList`` capabilities.
"""
pose = super(BasePoseMatrix, cls).__new__(cls) # create a new instance
super().__init__(pose) # initialize UserList
return pose
# ------------------------------------------------------------------------ #
@property
def about(self) -> str:
"""
Succinct summary of object type and length (superclass property)
:return: succinct summary
:rtype: str
Displays the type and the number of elements in compact form, for
example::
>>> x = SE3([SE3() for i in range(20)])
>>> len(x)
20
>>> print(x.about)
SE3[20]
"""
return "{:s}[{:d}]".format(type(self).__name__, len(self))
@property
def N(self) -> int:
"""
Dimension of the object's group (superclass property)
:return: dimension
:rtype: int
Dimension of the group is 2 for ``SO2`` or ``SE2``, and 3 for ``SO3`` or ``SE3``.
This corresponds to the dimension of the space, 2D or 3D, to which these
rotations or rigid-body motions apply.
Example::
>>> SE3().N
3
>>> SE2().N
2
"""
if type(self).__name__ == "SO2" or type(self).__name__ == "SE2":
return 2
else:
return 3
# ----------------------- tests
@property
def isSO(self) -> bool:
"""
Test if object belongs to SO(n) group (superclass property)
:param self: object to test
:type self: SO2, SE2, SO3, SE3 instance
:return: ``True`` if object is instance of SO2 or SO3
:rtype: bool
"""
return type(self).__name__ == "SO2" or type(self).__name__ == "SO3"
@property
def isSE(self) -> bool:
"""
Test if object belongs to SE(n) group (superclass property)
:param self: object to test
:type self: SO2, SE2, SO3, SE3 instance
:return: ``True`` if object is instance of SE2 or SE3
:rtype: bool
"""
return type(self).__name__ == "SE2" or type(self).__name__ == "SE3"
# ------------------------------------------------------------------------ #
# ------------------------------------------------------------------------ #
# --------- compatibility methods
def isrot(self) -> bool:
"""
Test if object belongs to SO(3) group (superclass method)
:return: ``True`` if object is instance of SO3
:rtype: bool
For compatibility with Spatial Math Toolbox for MATLAB.
In Python use ``isinstance(x, SO3)``.
Example::
>>> x = SO3()
>>> x.isrot()
True
>>> x = SE3()
>>> x.isrot()
False
"""
return type(self).__name__ == "SO3"
def isrot2(self) -> bool:
"""
Test if object belongs to SO(2) group (superclass method)
:return: ``True`` if object is instance of SO2
:rtype: bool
For compatibility with Spatial Math Toolbox for MATLAB.
In Python use ``isinstance(x, SO2)``.
Example::
>>> x = SO2()
>>> x.isrot()
True
>>> x = SE2()
>>> x.isrot()
False
"""
return type(self).__name__ == "SO2"
def ishom(self) -> bool:
"""
Test if object belongs to SE(3) group (superclass method)
:return: ``True`` if object is instance of SE3
:rtype: bool
For compatibility with Spatial Math Toolbox for MATLAB.
In Python use ``isinstance(x, SE3)``.
Example::
>>> x = SO3()
>>> x.isrot()
False
>>> x = SE3()
>>> x.isrot()
True
"""
return type(self).__name__ == "SE3"
def ishom2(self) -> bool:
"""
Test if object belongs to SE(2) group (superclass method)
:return: ``True`` if object is instance of SE2
:rtype: bool
For compatibility with Spatial Math Toolbox for MATLAB.
In Python use ``isinstance(x, SE2)``.
Example::
>>> x = SO2()
>>> x.isrot()
False
>>> x = SE2()
>>> x.isrot()
True
"""
return type(self).__name__ == "SE2"
# ----------------------- functions
def det(self) -> Tuple[float, Rn]:
"""
Determinant of rotational component (superclass method)
:return: Determinant of rotational component
:rtype: float or NumPy array
``x.det()`` is the determinant of the rotation component of the values
of ``x``.
Example::
>>> x=SE3.Rand()
>>> x.det()
1.0000000000000004
>>> x=SE3.Rand(N=2)
>>> x.det()
[0.9999999999999997, 1.0000000000000002]
:SymPy: not supported
"""
if type(self).__name__ in ("SO3", "SE3"):
if len(self) == 1:
return np.linalg.det(self.A[:3, :3])
else:
return [np.linalg.det(T[:3, :3]) for T in self.data]
elif type(self).__name__ in ("SO2", "SE2"):
if len(self) == 1:
return np.linalg.det(self.A[:2, :2])
else:
return [np.linalg.det(T[:2, :2]) for T in self.data]
def log(self, twist: Optional[bool] = False) -> Union[NDArray, List[NDArray]]:
"""
Logarithm of pose (superclass method)
:return: logarithm
:rtype: ndarray
:raises: ValueError
An efficient closed-form solution of the matrix logarithm.
===== ====== ===============================
Input Output
----- ---------------------------------------
Pose Shape Structure
===== ====== ===============================
SO2 (2,2) skew-symmetric SE2 (3,3) augmented skew-symmetric
SO3 (3,3) skew-symmetric SE3 (4,4) augmented skew-symmetric
===== ====== ===============================
Example::
>>> x = SE3.Rx(0.3)
>>> y = x.log()
>>> y
array([[ 0. , -0. , 0. , 0. ],
[ 0. , 0. , -0.3, 0. ],
[-0. , 0.3, 0. , 0. ],
[ 0. , 0. , 0. , 0. ]])
:seealso: :func:`~spatialmath.base.transforms2d.trlog2`,
:func:`~spatialmath.base.transforms3d.trlog`
:SymPy: not supported
"""
if self.N == 2:
log = [smb.trlog2(x, twist=twist) for x in self.data]
else:
log = [smb.trlog(x, twist=twist) for x in self.data]
if len(log) == 1:
return log[0]
else:
return log
def interp(self, end: Optional[bool] = None, s: Union[int, float] = None, shortest: bool = True) -> Self:
"""
Interpolate between poses (superclass method)
:param end: final pose
:type end: same as ``self``
:param s: interpolation coefficient, range 0 to 1, or number of steps
:type s: array_like or int
:param shortest: take the shortest path along the great circle for the rotation
:type shortest: bool, default to True
:return: interpolated pose
:rtype: same as ``self``
- ``X.interp(Y, s)`` interpolates pose between X between when s=0
and Y when s=1.
- ``X.interp(Y, N)`` interpolates pose between X and Y in ``N`` steps.
Example:
.. runblock:: pycon
>>> x = SE3(-1, -2, 0) * SE3.Rx(-0.3)
>>> y = SE3(1, 2, 0) * SE3.Rx(0.3)
>>> x.interp(y, 0) # this is x
>>> x.interp(y, 1) # this is y
>>> x.interp(y, 0.5) # this is in between
>>> z = x.interp(y, 11) # in 11 steps
>>> len(z)
>>> z[0] # this is x
>>> z[5] # this is in between
.. note::
- For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).
- Values of ``s`` outside the range [0,1] are silently clipped
:seealso: :func:`interp1`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.qslerp`, :func:`~spatialmath.base.transforms2d.trinterp2`
:SymPy: not supported
"""
if isinstance(s, int) and s > 1:
s = np.linspace(0, 1, s)
else:
s = smb.getvector(s)
s = np.clip(s, 0, 1)
if len(self) > 1:
raise ValueError("start pose must be a singleton")
if end is not None:
if len(end) > 1:
raise ValueError("end pose must be a singleton")
end = end.A
if self.N == 2:
# SO(2) or SE(2)
return self.__class__(
[smb.trinterp2(start=self.A, end=end, s=_s, shortest=shortest) for _s in s]
)
elif self.N == 3:
# SO(3) or SE(3)
return self.__class__(
[smb.trinterp(start=self.A, end=end, s=_s, shortest=shortest) for _s in s]
)
def interp1(self, s: float = None) -> Self:
"""
Interpolate pose (superclass method)
:param end: final pose
:type end: same as ``self``
:param s: interpolation coefficient, range 0 to 1
:type s: array_like
:return: interpolated pose
:rtype: SO2, SE2, SO3, SE3 instance
- ``X.interp(s)`` interpolates pose between identity when s=0, and X when s=1.
====== ====== =========== ===============================
len(X) len(s) len(result) Result
====== ====== =========== ===============================
1 1 1 Y = interp(X, s)
M 1 M Y[i] = interp(X[i], s)
1 M M Y[i] = interp(X, s[i])
====== ====== =========== ===============================
Example::
>>> x = SE3.Rx(0.3)
>>> print(x.interp(0))
SE3(array([[1., 0., 0., 0.],
[0., 1., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]]))
>>> print(x.interp(1))
SE3(array([[ 1. , 0. , 0. , 0. ],
[ 0. , 0.95533649, -0.29552021, 0. ],
[ 0. , 0.29552021, 0.95533649, 0. ],
[ 0. , 0. , 0. , 1. ]]))
>>> y = x.interp(x, np.linspace(0, 1, 10))
>>> len(y)
10
>>> y[5]
SE3(array([[ 1. , 0. , 0. , 0. ],
[ 0. , 0.98614323, -0.16589613, 0. ],
[ 0. , 0.16589613, 0.98614323, 0. ],
[ 0. , 0. , 0. , 1. ]]))
Notes:
#. For SO3 and SE3 rotation is interpolated using quaternion spherical linear interpolation (slerp).
:seealso: :func:`interp`, :func:`~spatialmath.base.transforms3d.trinterp`, :func:`~spatialmath.base.quaternions.qslerp`, :func:`~spatialmath.smb.transforms2d.trinterp2`
:SymPy: not supported
"""
s = smb.getvector(s)
s = np.clip(s, 0, 1)
if self.N == 2:
# SO(2) or SE(2)
if len(s) > 1:
assert len(self) == 1, "if len(s) > 1, len(X) must == 1"
return self.__class__([smb.trinterp2(start, self.A, s=_s) for _s in s])
else:
return self.__class__(
[smb.trinterp2(start, x, s=s[0]) for x in self.data]
)
elif self.N == 3:
# SO(3) or SE(3)
if len(s) > 1:
assert len(self) == 1, "if len(s) > 1, len(X) must == 1"
return self.__class__([smb.trinterp(None, self.A, s=_s) for _s in s])
else:
return self.__class__(
[smb.trinterp(None, x, s=s[0]) for x in self.data]
)
def norm(self) -> Self:
"""
Normalize pose (superclass method)
:return: pose
:rtype: SO2, SE2, SO3, SE3 instance
- ``X.norm()`` is an equivalent pose object but the rotational matrix
part of all values has been adjusted to ensure it is a proper orthogonal
matrix rotation.
Example::
>>> x = SE3()
>>> y = x.norm()
>>> y
SE3(array([[1., 0., 0., 0.],
[0., 1., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]]))
Notes:
#. Only the direction of A vector (the z-axis) is unchanged.
#. Used to prevent finite word length arithmetic causing transforms to
become 'unnormalized'.
:seealso: :func:`~spatialmath.base.transforms3d.trnorm`, :func:`~spatialmath.base.transforms2d.trnorm2`
"""
if self.N == 2:
return self.__class__([smb.trnorm2(x) for x in self.data])
else:
return self.__class__([smb.trnorm(x) for x in self.data])
def simplify(self) -> Self:
"""
Symbolically simplify matrix values (superclass method)
:return: pose with symbolic elements
:rtype: pose instance
Apply symbolic simplification to every element of every value in the
pose instance.
Example::
>>> a = SE3.Rx(sympy.symbols('theta'))
>>> b = a * a
>>> b
SE3(array([[1, 0, 0, 0.0],
[0, -sin(theta)**2 + cos(theta)**2, -2*sin(theta)*cos(theta), 0],
[0, 2*sin(theta)*cos(theta), -sin(theta)**2 + cos(theta)**2, 0],
[0.0, 0, 0, 1.0]], dtype=object)
>>> b.simplify()
SE3(array([[1, 0, 0, 0],
[0, cos(2*theta), -sin(2*theta), 0],
[0, sin(2*theta), cos(2*theta), 0],
[0, 0, 0, 1.00000000000000]], dtype=object))
.. todo:: No need to simplify the constants in bottom row
:SymPy: supported
"""
vf = np.vectorize(smb.sym.simplify)
return self.__class__([vf(x) for x in self.data], check=False)
def stack(self) -> NDArray:
"""
Convert to 3-dimensional matrix
:return: 3-dimensional NumPy array
:rtype: ndarray(n,n,m)
Converts the value to a 3-dimensional NumPy array where the values are
stacked along the third axis. The first two dimensions are given by
``self.shape``.
"""
return np.dstack(self.data)
def conjugation(self, A: NDArray) -> NDArray:
"""
Matrix conjugation
:param A: matrix to conjugate
:type A: ndarray
:return: conjugated matrix
:rtype: ndarray
Compute the conjugation :math:`\mat{X} \mat{A} \mat{X}^{-1}` where :math:`\mat{X}`
is the current object.
Example:
.. runblock:: pycon
>>> from spatialmath import SO2
>>> import numpy as np
>>> R = SO2(0.5)
>>> A = np.array([[10, 0], [0, 1]])
>>> print(R * A * R.inv())
>>> print(R.conjugation(A))
"""
if self.isSO:
return self.A @ A @ self.A.T
else:
return self.A @ A @ self.inv().A.T
# ----------------------- i/o stuff
def print(self, label: Optional[str] = None, file: Optional[TextIO] = None) -> None:
"""
Print pose as a matrix (superclass method)
:param label: label to print before the matrix, defaults to None
:type label: str, optional
:param file: file to write to, defaults to None
:type file: file object, optional
Print the pose as a matrix, with an optional line beforehand. By default
the matrix is printed to stdout.
Example:
.. runblock:: pycon
>>> from spatialmath import SE3
>>> SE3().print()
>>> SE3().print("pose is:")
:seealso: :meth:`printline` :meth:`strline`
"""
if label is not None:
print(label, file=file)
print(self, file=file)
def printline(self, *args, **kwargs) -> None:
r"""
Print pose in compact single line format (superclass method)
:param arg: value for orient option, optional
:type arg: str
:param label: text label to put at start of line
:type label: str
:param fmt: conversion format for each number as used by ``format()``
:type fmt: str
:param label: text label to put at start of line
:type label: str
:param orient: 3-angle convention to use, optional, ``SO3`` and ``SE3``
only
:type orient: str
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param file: file to write formatted string to. [default, stdout]
:type file: file object
Print pose in a compact single line format. If ``X`` has multiple
values, print one per line.
Orientation can be displayed in various formats:
============= =================================================
``orient`` description
============= =================================================
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order [default]
``'rpy/yxz'`` roll-pitch-yaw angles in YXZ axis order
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order
``'eul'`` Euler angles in ZYZ axis order
``'angvec'`` angle and axis
============= =================================================
Example:
.. runblock:: pycon
>>> from spatialmath import SE2, SE3
>>> x = SE3.Rx(0.3)
>>> x.printline()
>>> x = SE3.Rx([0.2, 0.3])
>>> x.printline()
>>> x.printline('angvec')
>>> x.printline(orient='angvec', fmt="{:.6f}")
>>> x = SE2(1, 2, 0.3)
>>> x.printline()
.. note::
- Default formatting is for compact display of data
- For tabular data set ``fmt`` to a fixed width format such as
``fmt='{:.3g}'``
:seealso: :meth:`strline` :func:`trprint`, :func:`trprint2`
"""
if self.N == 2:
for x in self.data:
smb.trprint2(x, *args, **kwargs)
else:
for x in self.data:
smb.trprint(x, *args, **kwargs)
def strline(self, *args, **kwargs) -> str:
"""
Convert pose to compact single line string (superclass method)
:param label: text label to put at start of line
:type label: str
:param fmt: conversion format for each number as used by ``format()``
:type fmt: str
:param label: text label to put at start of line
:type label: str
:param orient: 3-angle convention to use, optional, ``SO3`` and ``SE3``
only
:type orient: str
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: pose in string format
:rtype: str
Convert pose in a compact single line format. If ``X`` has multiple
values, the string has one pose per line.
Orientation can be displayed in various formats:
============= =================================================
``orient`` description
============= =================================================
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order [default]
``'rpy/yxz'`` roll-pitch-yaw angles in YXZ axis order
``'rpy/zyx'`` roll-pitch-yaw angles in ZYX axis order
``'eul'`` Euler angles in ZYZ axis order
``'angvec'`` angle and axis
============= =================================================
Example:
.. runblock:: pycon
>>> from spatialmath import SE2, SE3
>>> x = SE3.Rx(0.3)
>>> x.strline()
>>> x = SE3.Rx([0.2, 0.3])
>>> x.strline()
>>> x.strline('angvec')
>>> x.strline(orient='angvec', fmt="{:.6f}")
>>> x = SE2(1, 2, 0.3)
>>> x.strline()
.. note::
- Default formatting is for compact display of data
- For tabular data set ``fmt`` to a fixed width format such as
``fmt='{:.3g}'``
:seealso: :meth:`printline` :func:`trprint`, :func:`trprint2`
"""
s = ""
if self.N == 2:
for x in self.data:
s += smb.trprint2(x, *args, file=False, **kwargs)
else:
for x in self.data:
s += smb.trprint(x, *args, file=False, **kwargs)
return s
def __repr__(self) -> str:
"""
Readable representation of pose (superclass method)
:return: readable representation of the pose as a list of arrays
:rtype: str
Example:
.. runblock:: pycon
>>> from spatialmath import SE3
>>> x = SE3.Rx(0.3)
>>> repr(x)
"""
# TODO: really should iterate over all the elements, can have a symb
# element and ~eps values
def trim(x):
if x.dtype == "O":
return x
else:
return smb.removesmall(x)
name = type(self).__name__
if len(self) == 0:
return name + "([])"
elif len(self) == 1:
# need to indent subsequent lines of the native repr string by 4 spaces
return name + "(" + trim(self.A).__repr__().replace("\n", "\n ") + ")"
else:
# format this as a list of ndarrays
return (
name
+ "([\n"
+ ",\n".join([trim(v).__repr__() for v in self.data])
+ " ])"
)
def _repr_pretty_(self, p, cycle):
"""
Pretty string for IPython (superclass method)
:param p: pretty printer handle (ignored)
:param cycle: pretty printer flag (ignored)
Print colorized output when variable is displayed in IPython, ie. on a line by
itself.
Example::
In [1]: x
"""
# see https://ipython.org/ipython-doc/stable/api/generated/IPython.lib.pretty.html
if len(self) == 1:
p.text(str(self))
else:
for i, x in enumerate(self):
p.text(f"{i}:\n{str(x)}")
def __str__(self) -> str:
"""
Pretty string representation of pose (superclass method)
:return: readable representation of the pose
:rtype: str
Convert the pose's matrix value to a simple grid of numbers.
Example:
.. runblock:: pycon
>>> from spatialmath import SE3
>>> x = SE3.Rx(0.3)
>>> print(x)
Notes:
- By default, the output is colorised for an ANSI terminal console:
* red: rotational elements
* blue: translational elements
* white: constant elements
"""
if _ANSIMatrix and self._ansimatrix:
return self._string_matrix()
else:
return self._string_color(color=True)
def _string_matrix(self) -> str:
if self._ansiformatter is None:
self._ansiformatter = ANSIMatrix(style="thick")
return "\n".join([self._ansiformatter.str(A) for A in self.data])
def _string_color(self, color: Optional[bool] = False) -> str:
"""
Pretty print the matrix value
:param color: colorise the output, defaults to False
:type color: bool, optional
:return: multiline matrix representation
:rtype: str
Convert a matrix to a simple grid of numbers with optional
colorization for an ANSI terminal console:
* red: rotational elements
* blue: translational elements
* white: constant elements
"""
# print('in __str__', _color)
if self._color:
def color(c, f):
if c is None:
return ""
else:
return f(c)
bgcol = color(self._bgcolor, bg)
trcol = color(self._transcolor, fg) + bgcol
rotcol = color(self._rotcolor, fg) + bgcol
constcol = color(self._constcolor, fg) + bgcol
indexcol = color(self._indexcolor[0], fg) + color(self._indexcolor[1], bg)
reset = attr(0)
else:
bgcol = ""
trcol = ""
rotcol = ""
constcol = ""
reset = ""
def mformat(self, X):
# X is an ndarray value to be display
# self provides set type for formatting
out = ""
n = self.N # dimension of rotation submatrix
for rownum, row in enumerate(X):
rowstr = " "
# format the columns
for colnum, element in enumerate(row):
if smb.sym.issymbol(element):
s = "{:<12s}".format(str(element))
else:
if (
self._suppress_small
and abs(element) < self._suppress_tol * _eps
):
element = 0
s = self._format.format(element)
if rownum < n:
if colnum < n:
# rotation part
s = rotcol + bgcol + s + reset
else:
# translation part
s = trcol + bgcol + s + reset
else:
# bottom row
s = constcol + bgcol + s + reset
rowstr += " " + s
out += rowstr + bgcol + " " + reset + "\n"
return out
output_str = ""
if len(self.data) == 0:
output_str = "[]"
elif len(self.data) == 1:
# single matrix case
output_str = mformat(self, self.A)
else:
# sequence case
for count, X in enumerate(self.data):
# add separator lines and the index
output_str += (
indexcol
+ "[{:d}] =".format(count)
+ reset
+ "\n"
+ mformat(self, X)
)
return output_str
# ----------------------- graphics
def plot(self, *args, **kwargs) -> None:
"""
Plot pose object as a coordinate frame (superclass method)
:param `**kwargs`: plotting options
- ``X.plot()`` displays the pose ``X`` as a coordinate frame in either
2D or 3D. There are many options, see the links below.
Example::
>>> X = SE3.Rx(0.3)
>>> X.plot(frame='A', color='green')
.. plot::
from spatialmath import SE3
X = SE3.Rx(0.3)
X.plot(frame='A', color='green')
:seealso: :func:`~spatialmath.base.transforms3d.trplot`, :func:`~spatialmath.base.transforms2d.trplot2`
"""
if self.N == 2:
smb.trplot2(self.A, *args, **kwargs)