def Rand(cls, N=1):
"""
Create SO(3) with random rotation
:param N: number of random rotations
:type N: int
:return: 3x3 rotation matrix
:rtype: SO3 instance
- ``SO3.Rand()`` is a random SO(3) rotation.
- ``SO3.Rand(N)`` is a sequence of N random rotations.
:seealso: :func:`spatialmath.quaternion.UnitQuaternion.Rand`
"""
return cls([tr.q2r(tr.rand()) for i in range(0, N)], check=False)
def SE3(self):
"""
Convert unit dual quaternion to SE(3) matrix
:return: SE(3) matrix
:rtype: SE3
Example:
.. runblock:: pycon
>>> from spatialmath import DualQuaternion, SE3
>>> T = SE3.Rand()
>>> print(T)
>>> d = UnitDualQuaternion(T)
>>> print(d)
>>> print(d.T)
"""
R = base.q2r(self.real.A)
t = 2 * self.dual * self.real.conj()
return SE3(base.rt2tr(R, t.v))
def Rand(cls, N=1):
"""
Construct a new SO(3) from random rotation
:param N: number of random rotations
:type N: int
:return: SO(3) rotation matrix
:rtype: SO3 instance
- ``SO3.Rand()`` is a random SO(3) rotation.
- ``SO3.Rand(N)`` is a sequence of N random rotations.
Example:
.. runblock:: pycon
>>> from spatialmath import SO3
>>> x = SO3.Rand()
>>> x
:seealso: :func:`spatialmath.quaternion.UnitQuaternion.Rand`
"""
return cls([base.q2r(base.rand()) for _ in range(0, N)], check=False)
def Rand(cls, N=1):
"""
Construct a new SO(3) from random rotation
:param N: number of random rotations
:type N: int
:return: SO(3) rotation matrix
:rtype: SO3 instance
- ``SO3.Rand()`` is a random SO(3) rotation.
- ``SO3.Rand(N)`` is a sequence of N random rotations.
Example::
>>> x = SO3.Rand()
>>> x
SO3(array([[ 0.1805082 , -0.97959019, 0.08842995],
[-0.98357187, -0.17961408, 0.01803234],
[-0.00178104, -0.0902322 , -0.99591916]]))
:seealso: :func:`spatialmath.quaternion.UnitQuaternion.Rand`
"""
return cls([tr.q2r(tr.rand()) for _ in range(0, N)], check=False)
def plot(self, *args, **kwargs):
tr.trplot(tr.q2r(self._A), *args, **kwargs)