3.15.0

Documentation

• Document uniform random sampling procedure for quaternions

Features

• Add option to add labels to trajectories
• Add linewidth parameter to wireframe plots

3.14.4

Bugfix

• Fix for #358 with #359: comments in the XML previosuly broke URDF parsing.

3.14.3

Bugfix

• Fix parsing of URDF files with XML namespaces, #355

Documentation

• Explain convention used in concat
• Fix literal includes in user guide

3.14.2

Bugfix

• Fix TransformGraphBase.check_consistency, #353

Documentation

• Add overview figure of all representations of SE(3) and SE(3)

3.14.1

Bugfix

• Fix call to missing function in visualizer.Figure.plot_trajectory

Documentation

• Add reference to jaxtransform3d in readme
• Add py.typed file

Tests

• Drop support for Python 3.8 in CI pipeline (does not seem to be supported by the GitHub Action anymore)
• Deactivate CircleCI

3.14.0

Feature

• Add transformations.dual_quaternion_squared_norm

Bugfix

• Fix dual quaternion normalization (transformations.norm_dual_quaternion)
• Correct various type hints
• Fix trajectories.batch_dq_prod_vector for >=2d arrays

Refactoring

• Split large files into smaller modules, mainly conversions between rotations and transformations
• Simplify and document various parts of the library
• Sort import statements
• Use black for formatting
• Use ruff for linting

3.13.0

Features

• Add trajectories.random_trajectory
• Add ScLERP for transformation matrices
• Add SLERP for rotation matrices

Documentation

• Add more details to documentation of long examples
• Explain ScLERP of exponential coordinates and logarithm of transformation in user guide

3.12.0

Features

• Add transformations.norm_dual_quaternion
• Add option unit to transformations.concatenate_dual_quaternions to allow multiplication of unnormalized dual quaternions
• Update transformations.dual_quaternion_requires_renormalization to check for orthogonality of real and dual quaternion
• Add rotations.robust_polar_decomposition as an alternative orthonormalization method for rotation matrices

3.11.0

Features

• Add random sampling of rotation matrices
• Add estimation of Gaussian rotation
• Add general implementation of Frechet mean

Bugfixes

• Fix case of no rotation for batch conversion from rotation matrices to axis-angle representation
• Do not catch ImportErrors for missing plotting dependencies except matplotlib
• Fix loading of color STL meshes by trying to load with Open3D first, since trimesh does not support color information in STL files

Refactoring

• Refactor conversion of trimesh scenes to meshes when converting to Open3D mesh by implementing the composition with Open3D

3.10.1

Documentation

• Fix interpretation of rotation matrix (see #321)

Testing

• Add Python versions 3.12 and 3.13 to CI