├── .gitattributes ├── .github ├── CODEOWNERS ├── CONTRIBUTORS.md ├── svg │ ├── sm_powered.min.svg │ └── sm_powered.svg └── workflows │ ├── master.yml │ ├── publish.yml │ └── sphinx.yml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── Makefile ├── README.md ├── docs ├── .buildinfo ├── Makefile ├── figs │ ├── CartesianSnakes_LogoW.png │ ├── animate.gif │ ├── animate.mp4 │ ├── broadcasting.ezdraw │ ├── broadcasting.png │ ├── classes.dot │ ├── classes.pdf │ ├── classes.png │ ├── classes_spatialvec.dot │ ├── colored_output.png │ ├── fig1.png │ ├── icon.png │ ├── pose-values.ezdraw │ ├── pose-values.png │ ├── transforms2d.png │ └── transforms3d.png ├── generated │ ├── spatialmath.base.quaternions.html │ ├── spatialmath.base.transforms2d.html │ ├── spatialmath.base.transforms3d.html │ ├── spatialmath.base.transformsNd.html │ ├── spatialmath.base.vectors.html │ ├── spatialmath.pose2d.html │ ├── spatialmath.pose3d.html │ └── spatialmath.quaternion.html └── source │ ├── 2d_ellipse.rst │ ├── 2d_line.rst │ ├── 2d_linesegment.rst │ ├── 2d_orient_SO2.rst │ ├── 2d_polygon.rst │ ├── 2d_pose_SE2.rst │ ├── 2d_pose_twist.rst │ ├── 3d_dualquaternion.rst │ ├── 3d_line.rst │ ├── 3d_orient_SO3.rst │ ├── 3d_orient_unitquaternion.rst │ ├── 3d_plane.rst │ ├── 3d_pose_SE3.rst │ ├── 3d_pose_dualquaternion.rst │ ├── 3d_pose_twist.rst │ ├── 3d_quaternion.rst │ ├── 6d_acceleration.rst │ ├── 6d_f6.rst │ ├── 6d_force.rst │ ├── 6d_inertia.rst │ ├── 6d_m6.rst │ ├── 6d_momentum.rst │ ├── 6d_spatial.rst │ ├── 6d_velocity.rst │ ├── _static │ ├── android-chrome-192x192.png │ ├── android-chrome-512x512.png │ ├── apple-touch-icon.png │ ├── favicon-16x16.png │ └── favicon-32x32.png │ ├── classes-2d.rst │ ├── classes-3d.rst │ ├── conf.py │ ├── favicon.ico │ ├── func_2d.rst │ ├── func_2d_graphics.rst │ ├── func_3d.rst │ ├── func_3d_graphics.rst │ ├── func_animation.rst │ ├── func_args.rst │ ├── func_graphics.rst │ ├── func_nd.rst │ ├── func_numeric.rst │ ├── func_quat.rst │ ├── func_symbolic.rst │ ├── func_vector.rst │ ├── functions.rst │ ├── index.rst │ ├── indices.rst │ ├── intro.rst │ ├── modules.rst │ ├── spatialmath.rst │ └── support.rst ├── notebooks ├── gentle-introduction.ipynb └── introduction.ipynb ├── pyproject.toml ├── spatialmath ├── DualQuaternion.py ├── __init__.py ├── base │ ├── README.md │ ├── __init__.py │ ├── _types_311.py │ ├── _types_35.py │ ├── _types_39.py │ ├── animate.py │ ├── argcheck.py │ ├── base.ipynb │ ├── graphics.py │ ├── numeric.py │ ├── quaternions.py │ ├── symbolic.py │ ├── transforms2d.py │ ├── transforms3d.py │ ├── transformsNd.py │ ├── types.py │ └── vectors.py ├── baseposelist.py ├── baseposematrix.py ├── geom2d.py ├── geom3d.py ├── pose2d.py ├── pose3d.py ├── quaternion.py ├── spatialvector.py ├── spline.py ├── timing.py └── twist.py ├── symbolic ├── angvelxform.ipynb └── angvelxform_dot.ipynb └── tests ├── base ├── test_argcheck.py ├── test_graphics.py ├── test_numeric.py ├── test_quaternions.py ├── test_symbolic.py ├── test_transforms.py 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