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Fix misaligned indentations for python library to improve readability

This commit is contained in:
Zerui Wang 2018-12-09 12:29:46 +08:00
parent 174a89066c
commit 796ee53409
1 changed files with 378 additions and 371 deletions
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15
packages/Python/modern_robotics/core.py
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@ -381,7 +381,9 @@ def MatrixLog6(T):
:return: The matrix logarithm of R :return: The matrix logarithm of R
Example Input: Example Input:
T = np.array([[1, 0, 0, 0], [0, 0, -1, 0], [0, 1, 0, 3], T = np.array([[1, 0, 0, 0],
[0, 0, -1, 0],
[0, 1, 0, 3],
[0, 0, 0, 1]]) [0, 0, 0, 1]])
Output: Output:
np.array([[0, 0, 0, 0] np.array([[0, 0, 0, 0]
@ -578,8 +580,10 @@ def FKinBody(M, Blist, thetalist):
(i.t.o Body Frame) (i.t.o Body Frame)
Example Input: Example Input:
M = np.array([[-1, 0, 0, 0], [0, 1, 0, 6], [0, 0, -1, 2], M = np.array([[-1, 0, 0, 0],
[0, 0, 0, 1]]) [ 0, 1, 0, 6],
[ 0, 0, -1, 2],
[ 0, 0, 0, 1]])
Blist = np.array([[0, 0, -1, 2, 0, 0], Blist = np.array([[0, 0, -1, 2, 0, 0],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 1, 0],
[0, 0, 1, 0, 0, 0.1]]).T [0, 0, 1, 0, 0, 0.1]]).T
@ -797,7 +801,10 @@ def IKinSpace(Slist, M, T, thetalist0, eomg, ev):
Slist = np.array([[0, 0, 1, 4, 0, 0], Slist = np.array([[0, 0, 1, 4, 0, 0],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 1, 0],
[0, 0, -1, -6, 0, -0.1]]).T [0, 0, -1, -6, 0, -0.1]]).T
M = np.array([[-1, 0, 0, 0], [0, 1, 0, 6], [0, 0, -1, 2], [0, 0, 0, 1]]) M = np.array([[-1, 0, 0, 0],
[ 0, 1, 0, 6],
[ 0, 0, -1, 2],
[ 0, 0, 0, 1]])
T = np.array([[0, 1, 0, -5], T = np.array([[0, 1, 0, -5],
[1, 0, 0, 4], [1, 0, 0, 4],
[0, 0, -1, 1.6858], [0, 0, -1, 1.6858],