Add new functions/classes

Author: petercorke

spatialmath/__init__.py

@@ -1,11 +1,40 @@
 from spatialmath.pose2d import SO2, SE2
 from spatialmath.pose3d import SO3, SE3
 from spatialmath.baseposematrix import BasePoseMatrix
+from spatialmath.geom2d import Line2, Polygon2
 from spatialmath.geom3d import Line3, Plane3
 from spatialmath.twist import Twist3, Twist2
 from spatialmath.spatialvector import SpatialVelocity, SpatialAcceleration, \
      SpatialForce, SpatialMomentum, SpatialInertia
 from spatialmath.quaternion import Quaternion, UnitQuaternion
 from spatialmath.DualQuaternion import DualQuaternion, UnitDualQuaternion
 #from spatialmath.Plucker import *
-from spatialmath.base import plot_box, plot_text, plot_point
+from spatialmath import base as smb
+
+
+__all__ = [
+    # pose
+    "SO2",
+    "SE2",
+    "SO3",
+    "SE3",
+    "BasePoseMatrix",
+    "Quaternion",
+    "UnitQuaternion",
+    "DualQuaternion",
+    "UnitDualQuaternion",
+    "Twist3",
+    "Twist2",
+    "SpatialVelocity",
+    "SpatialAcceleration",
+    "SpatialForce",
+    "SpatialMomentum",
+    "SpatialInertia",
+    "Line3",
+    "Plane3",
+    "Line2",
+    "Polygon2",
+    "smb",
+]
+
+

spatialmath/base/__init__.py

@@ -137,6 +137,8 @@
     "removesmall",
     "cross",
     "iszero",
+    "wrap_0_2pi",
+    "wrap_mpi_pi",
     # spatialmath.base.animate
     "Animate",
     "Animate2",
@@ -146,6 +148,7 @@
     "plot_point",
     "plot_text",
     "plot_box",
+    "plot_poly",
     "circle",
     "ellipse",
     "sphere",
@@ -157,9 +160,12 @@
     "plot_sphere",
     "plot_ellipsoid",
     "plot_cylinder",
+    "plot_cone",
     "plot_cuboid",
     "axes_logic",
     "isnotebook",
     # spatial.base.numeric
     "numjac",
+    "array2str",
+    "bresenham",
 ]