DOC: refactor doc build; add / fix docs

doc/conf.py

@@ -10,6 +10,7 @@
 #
 # All configuration values have a default; values that are commented out
 # serve to show the default.
+from __future__ import print_function
 
 import sys, os
 
@@ -45,22 +46,30 @@
 project = u'transforms3d'
 copyright = u'2009-2015, Matthew Brett'
 
+def check_import(mod_name):
+    try:
+        res = __import__(mod_name)
+    except ImportError:
+        msg = ("Error: {0} must be installed before building the "
+               "documentation".format(mod_name))
+        sys.exit(msg)
+    return res
+
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
 # built documents.
 #
 # The short X.Y version.
-try:
-    import transforms3d
-except ImportError:
-    msg = ("Error: transforms3d must be installed before building the "
-           "documentation")
-    sys.exit(msg)
-
-version = transforms3d.__version__
+t3d = check_import('transforms3d')
+version = t3d.__version__
+
 # The full version, including alpha/beta/rc tags.
 release = version
 
+# Check numpy, sympy
+check_import('numpy')
+check_import('sympy')
+
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
 #language = None

doc/naming_conventions.rst

@@ -6,15 +6,20 @@
 
 In the code, we try to abbreviate common concepts in a standard way.
 
-* *aff*  - 4x4 :term:`affine matrix`
-* *rmat* - 3x3 :term:`rotation matrix`
-* *smat* - 3x3 :term:`shear matrix`
-* *euler* - :term:`euler angles`
-* *axangle* - :term:`axis angle`
-* *rvec* - :term:`rotation vector`
-* *quat* - :term:`quaternion`
-* *rfmat* - :term:`reflection` matrix
-* *rfvec* - vector defining plane for :term:`reflection`
-* *zoom* - shape (3,) scaling, sometimes 
-* *zdir* - factor, direction pair to specify 3D zoom matrix
-* *zdiro* - factor, direction, origin triple to specify 4D zoom affine
+* *aff*  - 4x4 :term:`affine matrix` for operating on homogenous coordinates
+  of shape (4,) or (4, N);
+* *mat* - 3x3 :term:`transformation matrix` for operating on non-homogenous
+  coordinate vectors of shape (3,) or (3, N);
+* *euler* - :term:`euler angles` - sequence of three scalars giving rotations
+  about defined axes;
+* *axangle* - :term:`axis angle` - axis (vector) and angle (scalar) giving
+  axis around which to rotate and angle of rotation;
+* *quat* - :term:`quaternion` - shape (4,);
+* *rfnorm* : reflection in plane defined by normal (vector) and optional point
+  (vector);
+* *zfdir* : zooms encoded by factor (scalar) and direction (vector)
+* *zdir* - factor (scalar), direction (vector) pair to specify 3D zoom matrix;
+* *striu* : shears encoded by vector giving triangular portion above diagonal
+  of NxN array (for ND transformation)
+* *sadn* : shears encoded by angle scalar, direction vector, normal vector
+  (with optional point vector)

transforms3d/affines.py

@@ -44,7 +44,7 @@ def decompose44(A44):
        determinant R matrix above
     S : array, shape (3,)
        Shear vector, such that shears fill upper triangle above
-       diagonal to form shear matrix (type ``striu'`).
+       diagonal to form shear matrix (type ``striu``).
 
     Examples
     --------