Merge branch 'master' of github.com:petercorke/spatialmath-python

# Conflicts:
#	spatialmath/pose3d.py

fix axis length

Author: petercorke

.github/workflows/publish.yml

@@ -0,0 +1,39 @@
+# This workflows will upload a Python Package using Twine when a release is created
+# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
+
+# name: Upload Python Package
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+jobs:
+  deploy:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      max-parallel: 2
+      matrix:
+        os: [ubuntu-latest]
+        python-version: [3.8]
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -U setuptools wheel twine
+    - name: Build and publish
+      env:
+        TWINE_USERNAME: __token__
+        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
+      run: |
+        python setup.py sdist bdist_wheel
+        ls ./dist/*.whl
+        twine upload dist/*.gz
+        twine upload dist/*.whl

spatialmath/base/transforms2d.py

@@ -1059,8 +1059,8 @@ def trplot2(
 
     # create unit vectors in homogeneous form
     o = T @ np.array([0, 0, 1])
-    x = T @ np.array([1, 0, 1]) * length
-    y = T @ np.array([0, 1, 1]) * length
+    x = T @ np.array([length, 0, 1])
+    y = T @ np.array([0, length, 1])
 
     # draw the axes
 

spatialmath/pose3d.py

@@ -1570,9 +1570,13 @@ def Rt(cls, R, t=None, check=True):
         else:
             raise ValueError('expecting SO3 or rotation matrix')
 
+<<<<<<< HEAD
         if t is None:
             t = np.zeros((3,))
         return cls(base.rt2tr(R, t))
+=======
+        return cls(base.rt2tr(R, t, check=check), check=check)
+>>>>>>> feeaa3639699359e3af0c2b29949edde096af8f2
 
     def angdist(self, other, metric=6):
         r"""