Added constrained uniform sampling of angles

Author: bokorn-bdaii

spatialmath/base/quaternions.py

@@ -28,9 +28,9 @@ def _compute_cdf_sin_squared(theta: float):
     """
     Computes the CDF for the distribution of anular magnitude for uniformly sampled rotations.
     
-    :arg theta: anglular magnitude
+    :arg theta: angular magnitude
     :rtype: float
-    :return: cdf of a given anglular magnitude
+    :return: cdf of a given angular magnitude
     :rtype: float
 
     Helper function for uniform sampling of rotations with constrained angular magnitude. 
@@ -869,15 +869,15 @@ def qrand(theta_range:Optional[ArrayLike2] = None, unit: str = "rad") -> UnitQua
     """
     Random unit-quaternion
     
-    :arg theta_range: anglular magnitude range [min,max], defaults to None.
+    :arg theta_range: angular magnitude range [min,max], defaults to None.
     :type xrange: 2-element sequence, optional
     :arg unit: angular units: 'rad' [default], or 'deg'
     :type unit: str
     :return: random unit-quaternion
     :rtype: ndarray(4)
 
     Computes a uniformly distributed random unit-quaternion, with in a maximum 
-    anglular magnitude, which can be considered equivalent to a random SO(3) rotation.
+    angular magnitude, which can be considered equivalent to a random SO(3) rotation.
 
     .. runblock:: pycon
 

spatialmath/pose3d.py

@@ -461,7 +461,7 @@ def Rand(cls, N: int = 1, *, theta_range:Optional[ArrayLike2] = None, unit: str
 
         :param N: number of random rotations
         :type N: int
-        :param theta_range: anglular magnitude range [min,max], defaults to None.
+        :param theta_range: angular magnitude range [min,max], defaults to None.
         :type xrange: 2-element sequence, optional
         :param unit: angular units: 'rad' [default], or 'deg'
         :type unit: str
@@ -1533,7 +1533,7 @@ def Rand(
         :type yrange: 2-element sequence, optional
         :param zrange: z-axis range [min,max], defaults to [-1, 1]
         :type zrange: 2-element sequence, optional
-        :param theta_range: anglular magnitude range [min,max], defaults to None -> [0,pi].
+        :param theta_range: angular magnitude range [min,max], defaults to None -> [0,pi].
         :type xrange: 2-element sequence, optional
         :param unit: angular units: 'rad' [default], or 'deg'
         :type unit: str

spatialmath/quaternion.py

@@ -1231,7 +1231,7 @@ def Rand(cls, N: int = 1, *, theta_range:Optional[ArrayLike2] = None, unit: str
 
         :param N: number of random rotations
         :type N: int
-        :param theta_range: anglular magnitude range [min,max], defaults to None -> [0,pi].
+        :param theta_range: angular magnitude range [min,max], defaults to None -> [0,pi].
         :type xrange: 2-element sequence, optional
         :param unit: angular units: 'rad' [default], or 'deg'
         :type unit: str