Add pages for class DCM, and its methods. Remove unused docs, and fix…

… docstring in method from_quaternion().
Mayitzin · Sep 11, 2023 · 6807608 · 6807608
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diff --git a/ahrs/common/dcm.py b/ahrs/common/dcm.py
@@ -734,7 +734,7 @@ def from_quaternion(self, q: np.ndarray) -> np.ndarray:
 
         .. code-block::
 
-            >>> R.from_q([[1, 0.0, 1, 0.0], [1.0, -1.0, 0.0, 1.0], [0.0, 0.0, -1.0, 1.0]])
+            >>> R.from_quaternion([[1, 0.0, 1, 0.0], [1.0, -1.0, 0.0, 1.0], [0.0, 0.0, -1.0, 1.0]])
             array([[[ 2.22044605e-16,  0.00000000e+00,  1.00000000e+00],
                     [ 0.00000000e+00,  1.00000000e+00,  0.00000000e+00],
                     [-1.00000000e+00,  0.00000000e+00,  2.22044605e-16]],

diff --git a/docs/source/attitude_representations.rst b/docs/source/attitude_representations.rst
@@ -23,7 +23,7 @@ From which, the following classes are available
    :titlesonly:
    :maxdepth: 1
 
-   classDCM
+   dcm/classDCM
    quaternion/classQuaternion
    quaternion/classQuaternionArray
 

diff --git a/docs/source/classDCM.rst b/docs/source/classDCM.rst
diff --git a/docs/source/dcm/classDCM.from_axang.rst b/docs/source/dcm/classDCM.from_axang.rst
@@ -0,0 +1,5 @@
+
+from_axang
+==========
+
+.. automethod:: ahrs.common.dcm.DCM.from_axang
diff --git a/docs/source/dcm/classDCM.from_axisangle.rst b/docs/source/dcm/classDCM.from_axisangle.rst
@@ -0,0 +1,5 @@
+
+from_axisangle
+==============
+
+.. automethod:: ahrs.common.dcm.DCM.from_axisangle
diff --git a/docs/source/dcm/classDCM.from_q.rst b/docs/source/dcm/classDCM.from_q.rst
@@ -0,0 +1,5 @@
+
+from_q
+======
+
+.. automethod:: ahrs.common.dcm.DCM.from_q
diff --git a/docs/source/dcm/classDCM.from_quaternion.rst b/docs/source/dcm/classDCM.from_quaternion.rst
@@ -0,0 +1,5 @@
+
+from_quaternion
+===============
+
+.. automethod:: ahrs.common.dcm.DCM.from_quaternion
diff --git a/docs/source/dcm/classDCM.ode.rst b/docs/source/dcm/classDCM.ode.rst
@@ -0,0 +1,5 @@
+
+ode
+===
+
+.. automethod:: ahrs.common.dcm.DCM.ode
diff --git a/docs/source/dcm/classDCM.rst b/docs/source/dcm/classDCM.rst
@@ -0,0 +1,23 @@
+
+Class DCM
+=========
+
+.. autoclass:: ahrs.common.dcm.DCM
+
+**Methods**
+
+.. toctree::
+    :maxdepth: 2
+    :titlesonly:
+
+    classDCM.to_axisangle
+    classDCM.to_axang
+    classDCM.from_axisangle
+    classDCM.from_axang
+    classDCM.from_quaternion
+    classDCM.from_q
+    classDCM.to_quaternion
+    classDCM.to_q
+    classDCM.to_angles
+    classDCM.to_rpy
+    classDCM.ode
diff --git a/docs/source/dcm/classDCM.to_angles.rst b/docs/source/dcm/classDCM.to_angles.rst
@@ -0,0 +1,5 @@
+
+to_angles
+=========
+
+.. automethod:: ahrs.common.dcm.DCM.to_angles
diff --git a/docs/source/dcm/classDCM.to_axang.rst b/docs/source/dcm/classDCM.to_axang.rst
@@ -0,0 +1,5 @@
+
+to_axang
+========
+
+.. automethod:: ahrs.common.dcm.DCM.to_axang
diff --git a/docs/source/dcm/classDCM.to_axisangle.rst b/docs/source/dcm/classDCM.to_axisangle.rst
@@ -0,0 +1,5 @@
+
+to_axisangle
+============
+
+.. automethod:: ahrs.common.dcm.DCM.to_axisangle
diff --git a/docs/source/dcm/classDCM.to_q.rst b/docs/source/dcm/classDCM.to_q.rst
@@ -0,0 +1,5 @@
+
+to_q
+====
+
+.. automethod:: ahrs.common.dcm.DCM.to_q
diff --git a/docs/source/dcm/classDCM.to_quaternion.rst b/docs/source/dcm/classDCM.to_quaternion.rst
@@ -0,0 +1,5 @@
+
+to_quaternion
+=============
+
+.. automethod:: ahrs.common.dcm.DCM.to_quaternion
diff --git a/docs/source/dcm/classDCM.to_rpy.rst b/docs/source/dcm/classDCM.to_rpy.rst
@@ -0,0 +1,5 @@
+
+to_rpy
+======
+
+.. automethod:: ahrs.common.dcm.DCM.to_rpy
diff --git a/docs/source/specialClasses.rst b/docs/source/specialClasses.rst