Merge pull request #287 from sourcebots/docs-22

Update docs for SP2022

Author: tpoomlmly

docs/source/api/vision/index.rst

@@ -74,20 +74,19 @@ Position
 
 Each marker has a position in 3D space, relative to your webcam.
 
-You can access the position using ``m.bearing`` and ``m.distance``.
+You can access the position using ``m.distance``, ``m.cartesian`` and ``m.spherical``.
 
 .. code:: python
 
    markers = r.camera.see()
 
    for m in markers:
-       print(m.bearing)  # Bearing to the marker from the origin, in radians
-       print(m.distance)  # Distance to the marker from the origin, in metres
+       print(m.distance)  # Distance to the marker from the webcam, in metres
+       print(m.spherical.y)  # Bearing to the marker from the webcam, in radians
 
-* ``m.bearing`` is equivalent to ``m.position.cylindrical.phi``.
-* ``m.distance`` is equivalent to ``m.position.cylindrical.p``.
+* ``m.distance`` is equivalent to ``m.cartesian.z`` or ``m.spherical.dist``.
 
-For further information on position, including how to use ``m.position`` and the coordinate systems,
+For further information on position, including how to use ``m.cartesian``, ``m.spherical``, and the coordinate systems,
 see `Position <position.html>`__.
 
 It is also possible to look at the `Orientation <orientation.html>`__ of the marker.

docs/source/api/vision/position.rst

@@ -5,9 +5,8 @@ Your robot supports three different coordinates systems for position:
 
 * Cartesian
 * Spherical
-* Cylindrical
 
-The latter are both variants of a `Polar Coordinates system <https://en.wikipedia.org/wiki/Polar_coordinate_system>`_.
+The latter is a `Polar Coordinates system <https://en.wikipedia.org/wiki/Polar_coordinate_system>`_.
 
 Cartesian
 ---------
@@ -67,30 +66,3 @@ The camera is located at the origin, where the coordinates are ``(0, 0, 0)``.
 
 .. Note:: When searching for spherical coordinates, you may find a references with phi and theta the other way around.
     This is due to there being *two* conventions for this. We use the ISO 80000-2 16.3 system, as often found in physics.
-
-Cylindrical
------------
-
-.. figure:: /_static/api/vision/cylindrical.png
-   :alt: The cylindrical coordinates system
-   :scale: 40%
-
-   The cylindrical coordinates system
-
-The `cylindrical coordinates system <https://en.wikipedia.org/wiki/Cylindrical_coordinate_system>`_ has three values
-to specify a point in space.
-
-* ``ρ`` (rho) - The axial distance from the origin, in metres.
-* ``φ`` (phi) - The polar angle from the plane of the camera to the point, in radians.
-* ``z`` - The height of the point from the plane of the camera.
-
-.. code:: python
-
-   markers = r.camera.see()
-
-   for m in markers:
-       print(m.position.cylindrical.p)  # The axial distance from the origin.
-       print(m.position.cylindrical.phi)  # The polar angle from the plane of the camera to the point, in radians.
-       print(m.position.cylindrical.z)  # The height of the point from the plane of the camera, in metres.
-
-.. Note:: Whilst ``ρ`` is technically rho, we denote it as ``p`` in the API to make it easier to type.