Development branch, release 3.7.0

doc/source/api.rst

@@ -137,6 +137,15 @@ Rotors
    ~rotor_apply
    ~rotor_slerp
 
+Modified Rodrigues Parameters
+-----------------------------
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: function.rst
+
+   ~concatenate_mrp
+
 Plotting
 --------
 

doc/source/conf.py

@@ -52,6 +52,7 @@
 language = 'en'
 today_fmt = '%B %d, %Y'
 add_function_parentheses = True
+author = "Alexander Fabisch"
 show_authors = True
 pygments_style = 'sphinx'
 html_logo = "_static/logo.png"

doc/source/index.rst

@@ -58,7 +58,5 @@ If you use pytransform3d for a scientific publication, I would appreciate
 citation of the following paper:
 
 Fabisch, A. (2019). pytransform3d: 3D Transformations for Python.
-Journal of Open Source Software, 4(33), 1159, |DOI|_
-
-.. |DOI| image:: http://joss.theoj.org/papers/10.21105/joss.01159/status.svg
-.. _DOI: https://doi.org/10.21105/joss.01159
+Journal of Open Source Software, 4(33), 1159,
+https://doi.org/10.21105/joss.01159

doc/source/user_guide/euler_angles.rst

@@ -10,14 +10,12 @@ conventions that could be used. Furthermore, you have to find out whether
 degrees or radians are used to express the angles (we will only use
 radians in pytransform3d).
 
--------
-Example
--------
+.. figure:: ../_auto_examples/plots/images/sphx_glr_plot_euler_angles_001.png
+   :target: ../_auto_examples/plots/plot_euler_angles.html
+   :align: center
 
-Here we rotate about the extrinsic (fixed) x-axis, y-axis, and z-axis by
-90 degrees.
-
-.. plot:: ../../examples/plots/plot_euler_angles.py
+   Here we rotate about the extrinsic (fixed) x-axis, y-axis, and z-axis by
+   90 degrees.
 
 --------------
 24 Conventions
@@ -44,22 +42,22 @@ rotation matrices).
 Range of Angles
 ---------------
 
-Euler angles rotate about three basis vectors with by the angles
+Euler angles rotate about three basis vectors by the angles
 :math:`\alpha`, :math:`\beta`, and :math:`\gamma`. If we want to find the
-Euler angles that correspond to one rotation matrix :math:`R`, there is an
-infinite number of solutions because we can always add or subtract
+Euler angles that correspond to one rotation matrix :math:`\boldsymbol{R}`,
+there is an infinite number of solutions because we can always add or subtract
 :math:`2\pi` to one of the angles and get the same result. In addition,
 for proper Euler angles
 
 .. math::
 
-    R(\alpha, \beta, \gamma) = R(\alpha + \pi, -\beta, \gamma - \pi).
+    \boldsymbol{R}(\alpha, \beta, \gamma) = \boldsymbol{R}(\alpha + \pi, -\beta, \gamma - \pi).
 
 For Cardan angles
 
 .. math::
 
-    R(\alpha, \beta, \gamma) = R(\alpha + \pi, \pi - \beta, \gamma - \pi).
+    \boldsymbol{R}(\alpha, \beta, \gamma) = \boldsymbol{R}(\alpha + \pi, \pi - \beta, \gamma - \pi).
 
 For this reason the proper Euler angles are typically restricted to
 

doc/source/user_guide/introduction.rst

@@ -6,6 +6,9 @@ Introduction to 3D Rigid Transformations
 Basics
 ------
 
+Following Waldron and Schmiedeler [1]_, we define the basic terms that we use
+throughout this user guide.
+
 .. list-table::
    :widths: 15 35 15 35
 
@@ -53,6 +56,10 @@ its frame) is always expressed with respect to another frame.
 Frame Notation
 --------------
 
+Notation is important for describing and understanding of physical quantities
+in 3D. Furgale [2]_ [3]_ presents one of the most consistent and clear
+approaches and we use it here.
+
 For physical quantities we use the notation :math:`_{A}\boldsymbol{x}_{BC}`,
 where :math:`\boldsymbol{x}` is a physical quantity of frame C with
 respect to frame B expressed in frame A. For example,
@@ -108,12 +115,12 @@ representations on the following pages.
 | Rotation matrix                        | (3, 3)              | X                |               |
 | :math:`\pmb{R}`                        |                     |                  |               |
 +----------------------------------------+---------------------+------------------+---------------+
-| Compact axis-angle                     | (3,)                | X                |               |
-| :math:`\pmb{\omega}`                   |                     |                  |               |
-+----------------------------------------+---------------------+------------------+---------------+
 | Axis-angle                             | (4,)                | X                |               |
 | :math:`(\hat{\pmb{\omega}}, \theta)`   |                     |                  |               |
 +----------------------------------------+---------------------+------------------+---------------+
+| Rotation vector                        | (3,)                | X                |               |
+| :math:`\pmb{\omega}`                   |                     |                  |               |
++----------------------------------------+---------------------+------------------+---------------+
 | Logarithm of rotation                  | (3, 3)              | X                |               |
 | :math:`\left[\pmb{\omega}\right]`      |                     |                  |               |
 +----------------------------------------+---------------------+------------------+---------------+
@@ -127,7 +134,7 @@ representations on the following pages.
 | :math:`(\alpha, \beta, \gamma)`        |                     |                  |               |
 +----------------------------------------+---------------------+------------------+---------------+
 | Modified Rodrigues parameters          | (3,)                | X                |               |
-| :math:`\psi`                           |                     |                  |               |
+| :math:`\pmb{\psi}`                     |                     |                  |               |
 +----------------------------------------+---------------------+------------------+---------------+
 | Transformation matrix                  | (4, 4)              | X                | X             |
 | :math:`\pmb{T}`                        |                     |                  |               |
@@ -149,8 +156,16 @@ representations on the following pages.
 References
 ----------
 
-1. Waldron, K., Schmiedeler, J. (2008). Kinematics. In: Siciliano, B., Khatib,
+.. [1] Waldron, K., Schmiedeler, J. (2008). Kinematics. In: Siciliano, B., Khatib,
    O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg.
    https://doi.org/10.1007/978-3-540-30301-5_2
-2. Representing Robot Pose: The good, the bad, and the ugly (slides): http://static.squarespace.com/static/523c5c56e4b0abc2df5e163e/t/53957839e4b05045ad65021d/1402304569659/Workshop+-+Rotations_v102.key.pdf
-3. Representing Robot Pose: The good, the bad, and the ugly (blog): http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly
+
+.. [2] Furgale, P. (2014). Representing Robot Pose: The good, the bad, and the
+   ugly (slides). In What Sucks in Robotics and How to Fix It: Lessons Learned
+   from Building Complex Systems (ICRA workshop). Note: these slides seem to be
+   lost, but the blog below conveys the same message.
+   http://static.squarespace.com/static/523c5c56e4b0abc2df5e163e/t/53957839e4b05045ad65021d/1402304569659/Workshop+-+Rotations_v102.key.pdf
+
+.. [3] Furgale, P. (2014). Representing Robot Pose: The good, the bad, and the
+   ugly (blog).
+   https://web.archive.org/web/20220420162355/http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly