Implement Plücker-Screw-Twist conversions #62
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* Also fixes the Twist3.pitch() method.
VascoSch92
reviewed
Mar 3, 2024
| def ToPlucker(self): | ||
| if abs(self.theta) > 1e-4: | ||
| l = self.w / self.theta | ||
| return Plucker((self.v / self.theta) - self.pitch * l, l) |
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| return Plucker((self.v / self.theta) - self.pitch * l, l) | |
| return Plucker(self.v / self.theta - self.pitch * l, l) |
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This PR is an attempt to improve the issue reported in https://github.com/petercorke/spatialmath-python/issues/61. While implementing these classes, I noticed that
Line3is a general abstraction that covers them all, therefore I didn't implement the additional validity check in theLine3constructor as I initially suggested. Although, the docs in there should be improved in the scope of this PR.An extensive study of the subject (based on the book of @petercorke) can be found in this Jupyter notebook. (The GIFs there are quite large to be rendered in an optimal way, I'll update the link once I move the post to a more convenient place)