Added constrained uniform sampling of angles

Author: bokorn-bdaii

spatialmath/base/quaternions.py

@@ -891,8 +891,8 @@ def qrand(theta_range:Optional[ArrayLike2] = None, unit: str = "rad") -> UnitQua
             ValueError('Invalid angular range. Must be within the range[0, pi].'
             + f' Recieved {theta_range}.')
 
-        # Sample axis and angle indepently, respecing the CDF of the 
-        # angular magnitued under uniform sampling. 
+        # Sample axis and angle independently, respecting the CDF of the 
+        # angular magnitude under uniform sampling. 
 
         # Sample angle using inverse transform sampling based on CDF 
         # of the anular distribution (2/pi * sin^2(theta/2))

tests/test_pose3d.py

@@ -78,7 +78,7 @@ def test_constructor(self):
         nt.assert_equal(len(R), 1)
         self.assertIsInstance(R, SO3)
 
-        # random constained
+        # random constrained
         R = SO3.Rand(theta_range=(0.1, 0.7))
         self.assertIsInstance(R, SO3)
         self.assertEqual(R.A.shape, (3, 3))
@@ -856,7 +856,7 @@ def test_constructor(self):
         nt.assert_equal(TT.y, ones * t[1])
         nt.assert_equal(TT.z, ones * t[2])
 
-        # random constained
+        # random constrained
         T = SE3.Rand(theta_range=(0.1, 0.7))
         self.assertIsInstance(T, SE3)
         self.assertEqual(T.A.shape, (4, 4))