# dot -Tpdf classes.dot > classes.pdf ; open classes.pdf

# dot -Tpng -Gdpi=150 -Nfontsize=20 -Nfontname=Roboto classes.dot > classes.png

digraph G {

graph [rankdir=BT];

SMUserList -> "collections.UserList"

SMPose -> SMUserList

SO2 -> SMPose

SO3 -> SMPose

SE2 -> SO2

SE3 -> SO3

SMTwist -> SMUserList

Twist2 -> SMTwist

Twist3 -> SMTwist

Quaternion -> SMUserList

UnitQuaternion -> Quaternion

Plucker -> SMUserList

SpatialVector -> SMUserList

SpatialM6 -> SpatialVector

SpatialF6 -> SpatialVector

SpatialVelocity -> SpatialM6

SpatialAcceleration -> SpatialM6

SpatialMomentum -> SpatialF6

SpatialForce -> SpatialF6

SpatialInertia -> SMUserList

}