From 29bd0e3ac532ac5e281780ce3ab5412e3ba00e49 Mon Sep 17 00:00:00 2001 From: p-zach Date: Wed, 5 Mar 2025 19:37:36 -0500 Subject: [PATCH] Update Rot3 doc --- gtsam/geometry/doc/Rot3.ipynb | 75 +++++++++++++---------------------- 1 file changed, 28 insertions(+), 47 deletions(-) diff --git a/gtsam/geometry/doc/Rot3.ipynb b/gtsam/geometry/doc/Rot3.ipynb index c0ba05067..937679528 100644 --- a/gtsam/geometry/doc/Rot3.ipynb +++ b/gtsam/geometry/doc/Rot3.ipynb @@ -26,7 +26,7 @@ { "cell_type": "markdown", "source": [ - "A `gtsam.Rot3` represents a rotation in 3D space. It can be manipulated and presented as a rotation matrix, a quaternion, roll-pitch-yaw angles (Euler angles), or as an axis-angle combination. It models a 3D rotation in the [Special Orthogonal Group $\\text{SO}(3)$](https://en.wikipedia.org/wiki/SO(3)), which is a [Lie group](https://en.wikipedia.org/wiki/Lie_group)." + "A `gtsam.Rot3` represents an orientation or attitude in 3D space. It can be manipulated and presented as a rotation matrix $ R \\in \\mathbb{R}^{3 \\times 3} $, a unit quaternion, roll-pitch-yaw (Euler) angles $ (\\phi, \\theta, \\psi) $, or as an axis-angle representation $ (\\hat{\\omega}, \\theta) $ with $ \\hat{\\omega} \\in \\mathbb{R}^3 $ and $ \\theta \\in \\mathbb{R} $. It models a 3D orientation as both a manifold in $ \\mathcal{SO}(3) $ and as a Lie group in $ \\text{SO}(3) $. Internally, it is stored as a $ 3 \\times 3 $ rotation matrix but can be configured to use quaternions at build time for efficiency." ], "metadata": { "id": "YqaxPKyloJG_" @@ -43,30 +43,11 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": null, "metadata": { - "colab": { - "base_uri": "https://localhost:8080/" - }, - "id": "HyXPOMakoDkY", - "outputId": "665a19a8-4265-4d54-bc43-b5f4df9b62c8" + "id": "HyXPOMakoDkY" }, - "outputs": [ - { - "output_type": "stream", - "name": "stdout", - "text": [ - "Collecting gtsam\n", - " Downloading gtsam-4.2-cp311-cp311-manylinux2014_x86_64.whl.metadata (7.6 kB)\n", - "Requirement already satisfied: numpy>=1.11.0 in /usr/local/lib/python3.11/dist-packages (from gtsam) (1.26.4)\n", - "Requirement already satisfied: pyparsing>=2.4.2 in /usr/local/lib/python3.11/dist-packages (from gtsam) (3.2.1)\n", - "Downloading gtsam-4.2-cp311-cp311-manylinux2014_x86_64.whl (22.4 MB)\n", - "\u001b[2K \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[32m22.4/22.4 MB\u001b[0m \u001b[31m10.7 MB/s\u001b[0m eta \u001b[36m0:00:00\u001b[0m\n", - "\u001b[?25hInstalling collected packages: gtsam\n", - "Successfully installed gtsam-4.2\n" - ] - } - ], + "outputs": [], "source": [ "%pip install gtsam" ] @@ -81,7 +62,7 @@ "metadata": { "id": "_fWy46Mepoxh" }, - "execution_count": 2, + "execution_count": null, "outputs": [] }, { @@ -96,7 +77,7 @@ { "cell_type": "markdown", "source": [ - "A `Rot3` can be initialized in many different ways, which are detailed in this section. Note that printing a `Rot3` displays its 3x3 rotation matrix representation, which in general is a 3x3 matrix where the columns are unit vectors that define a coordinate frame." + "A `Rot3` can be initialized in many different ways, which are detailed in this section. Note that printing a `Rot3` displays its 3x3 rotation matrix representation, which in general is a 3x3 matrix where the columns are unit vectors that define the orientation's coordinate frame." ], "metadata": { "id": "RrJ5ZEdhqJPU" @@ -148,7 +129,7 @@ "id": "mj8X-wIdq6GR", "outputId": "48a6921d-df39-4fd8-aaf8-76d4bcdb70b1" }, - "execution_count": 3, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -220,7 +201,7 @@ "id": "GcAB8GtVaLjK", "outputId": "b9e701cd-6a3f-4171-a518-158a2f7b60fd" }, - "execution_count": 4, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -277,7 +258,7 @@ "id": "w-qh5dX6VWAW", "outputId": "8fe29ae6-eb47-4460-c27b-3acd8ee5e5bf" }, - "execution_count": 5, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -354,7 +335,7 @@ "id": "bGEMGXkpYT9t", "outputId": "31655b9f-045f-4b51-dff2-42de4382427f" }, - "execution_count": 6, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -412,7 +393,7 @@ "id": "uO9hb2RBaG3g", "outputId": "5409ef2e-3651-439b-af9f-6ed7888aa9d5" }, - "execution_count": 7, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -451,7 +432,7 @@ "id": "M_OOSKgAaqhF", "outputId": "cbb875b7-9204-4a90-c225-dbea46718c6f" }, - "execution_count": 8, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -491,7 +472,7 @@ "id": "NUgeRQzIcqYp", "outputId": "8c189748-267b-4c25-e0cf-4eed8721bc4a" }, - "execution_count": 9, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -537,7 +518,7 @@ "id": "EFMbwiTKfLfJ", "outputId": "72bf7784-6a8c-4052-c444-d85d6d9014e7" }, - "execution_count": 10, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -610,7 +591,7 @@ "id": "zbNPBHiwDAE2", "outputId": "716f9db1-f7c7-4418-f7c7-5c6bae0b6a2c" }, - "execution_count": 11, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -683,7 +664,7 @@ "id": "rtbkHyp3GgWx", "outputId": "43b1178c-39d3-4df2-face-9e8cef162cdd" }, - "execution_count": 12, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -723,7 +704,7 @@ "id": "MYiKxq4vItz3", "outputId": "e8f8fdd0-c539-476f-f233-2f78f98ca671" }, - "execution_count": 13, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -767,7 +748,7 @@ "id": "y45qZPivHkRR", "outputId": "e2320424-004f-47bf-e844-bf04df63a916" }, - "execution_count": 14, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -818,7 +799,7 @@ "id": "axvFPtxYdGru", "outputId": "977f9582-5b23-43c7-a6f5-a7bfce6d5cea" }, - "execution_count": 15, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -859,7 +840,7 @@ "id": "ffVBzuOhGugd", "outputId": "ff207bed-850c-422a-d9a6-a0b59e801989" }, - "execution_count": 16, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -903,7 +884,7 @@ "id": "4zXJJ77FdLBB", "outputId": "c5875121-0d97-475c-8669-93b92ac37c1b" }, - "execution_count": 17, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -947,7 +928,7 @@ "id": "_qGyDV15dgmU", "outputId": "be748925-3425-41c7-b06b-57ab87955699" }, - "execution_count": 18, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -985,7 +966,7 @@ "id": "SchtjDIPfXtb", "outputId": "7d199a1e-b9a7-4775-81e7-9c1328012b89" }, - "execution_count": 19, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -1026,7 +1007,7 @@ "id": "ysQSPxuwfnen", "outputId": "4a7d8404-fc2a-46ca-ba18-236fd417382b" }, - "execution_count": 20, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -1125,7 +1106,7 @@ }, "outputId": "e0c75e07-2b6d-4f84-a90d-f1cceb3ad9fa" }, - "execution_count": 25, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -1227,7 +1208,7 @@ "id": "0V2oQQ0lxS2-", "outputId": "62b40acb-799e-4a91-dacd-c9e0266665c3" }, - "execution_count": 26, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -1257,7 +1238,7 @@ "id": "-kTgSGJS06EC", "outputId": "97051c49-284e-4ee8-d806-53f0d842fc31" }, - "execution_count": 27, + "execution_count": null, "outputs": [ { "output_type": "stream", @@ -1312,7 +1293,7 @@ "id": "m6ku7L_768Ta", "outputId": "8cb6fe04-6759-4cd9-8145-42f4fc2a72dd" }, - "execution_count": 28, + "execution_count": null, "outputs": [ { "output_type": "stream",