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compute mean of a set of rotations#160

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myeatman-bdai merged 16 commits intobdaiinstitute:masterbdaiinstitute/spatialmath-python:masterfrom

petercorke:new-rotation-meanpetercorke/spatialmath-python:new-rotation-meanCopy head branch name to clipboard

Jan 26, 2025

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Commits on Jan 20, 2025

• add rotational mean method to SO3 class

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• add mean() method to UnitQuaternion class.

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• Make RPY() and Eul() methods handle matrix inputs to create multi-valued quaternion object.

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Commits on Jan 21, 2025

• working vectorized versions of RPY() and Eul() constructors, with tests.

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• allow quaternion constructor to accept s, v for multivalue case, s is a vector, v is an array.

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• working version of log() that handles multi-value case and the edge case when vector part is zero.

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• exp() to handle the edge case where result is a unit quaternion.

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• working version of mean() for unit quaternion

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• fix docstring indentation

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• working version of mean() for SO3 class.

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• tests for SO3 log/exp edge cases

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Commits on Jan 23, 2025

• doco error

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Commits on Jan 26, 2025

• For now, remove the unit quaternion method. Need to find a reference for a quaternion implementation, rather than converting to/from SO(3) matrices.

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• make random testing reproducible. add a test over a range of rotations.

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• fix bug in implementation

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• reduce standard deviation of noise to make the test pass

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