Implement Plücker-Screw-Twist conversions by tahsinkose · Pull Request #62 · rai-opensource/spatialmath-python · GitHub
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* Also fixes the Twist3.pitch() method.
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This PR is an attempt to improve the issue reported in https://github.com/petercorke/spatialmath-python/issues/61. While implementing these classes, I noticed that Line3 is a general abstraction that covers them all, therefore I didn't implement the additional validity check in the Line3 constructor as I initially suggested. Although, the docs in there should be improved in the scope of this PR.
An extensive study of the subject (based on the book of @petercorke) can be found in this Jupyter notebook. (The GIFs there are quite large to be rendered in an optimal way, I'll update the link once I move the post to a more convenient place)