.. Spatial Maths package documentation master file, created by
   sphinx-quickstart on Sun Apr 12 15:50:23 2020.
   You can adapt this file completely to your liking, but it should at least
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Spatial Maths for Python
========================


This package provides Python classes and functions to represent, print, plot,
manipulate and covert between many common representations of position,
orientation and pose of objects in 2D or 3D space. This includes
mathematical objects such as rotation matrices :math:`\mat{R} \in \SO{2},
\SO{3}`, angle sequences, exponential coordinates, homogeneous transformation matrices :math:`\mat{T} \in \SE{2}, \SE{3}`,
unit quaternions :math:`\q \in \mathrm{S}^3`, and twists :math:`S \in \se{2},
\se{3}`.

.. toctree::
   :maxdepth: 2

   intro
   spatialmath
   functions
   indices