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Commits on May 10, 2022

• tidy up, remove redundant code

  petercorke

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• change names of Line3 methods to Join, IntersectingPlanes

  petercorke

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• change methods se2 and se3 to skewa

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Commits on Feb 28, 2022

• prefix most quaternion functions in base with 'q', make them a bit more unique in the namespace when using import *

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  petercorke

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Commits on Feb 3, 2022

• add new functions for analytic representations

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  petercorke

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• split 3D plot tests into separate function, kind of slow to run

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Commits on Jan 31, 2022

• major rework of docstrings

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  petercorke

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Commits on Nov 4, 2021

• choose a different quaternion, one with non zero scalar part. Windows unit tests give different (but valid in double mapping) answer in this situation

  petercorke

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• add new unit tests for velocity transforms and angular representation functions

  petercorke

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• update unit tests for graphics

  petercorke

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Commits on Sep 13, 2021

• support API changes

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  petercorke

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Commits on Jul 24, 2021

• change geom3d class names

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  petercorke

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Commits on May 23, 2021

• black applied to base and tests/base

  petercorke

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• Change names of Plucker constructors to TwoPoints and TwoPlanes

  petercorke

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• options are consistent, added cylinder, cuboid and homog line

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  petercorke

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Commits on May 2, 2021

• Add exponential coordinates to angvelxform and angvelxform_dot

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  petercorke

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Commits on Apr 18, 2021

• New tests for angular velocity Jacobians

  petercorke

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• change due to compact printing

  petercorke

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• Fix error in lamba return value from intersect_plane, make this computation its own method

  petercorke

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• add unit tests for angvec to SO3/SE3

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• new: create SO3/SE3 from exponential coordinates

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Commits on Apr 15, 2021

• added r2q order and tests

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Commits on Apr 6, 2021

• make trprint and printline default format to be compact

  petercorke

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Commits on Mar 28, 2021

• fix bug with SE2 to SE3 conversion

  petercorke

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• Change names of superclasses to be consistent and standard

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  petercorke

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Commits on Mar 24, 2021

• change to UnitQuaternion constructor,

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  petercorke

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Commits on Mar 14, 2021

• skip symbolic tests if no sympy

  petercorke

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Commits on Feb 28, 2021

• changes to interp

  petercorke

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• Allow Eul RPY constructor to accept positional args as well as vectors

  petercorke

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• fix bugs around animation

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  petercorke

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• unit quaternion has positive scalar part

  petercorke

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Commits on Feb 24, 2021

• reflect change to tr2jac

  petercorke

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• change to interp, always has start and end,

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  petercorke

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• fix bug in passing matrix to RPY

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  petercorke

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Commits on Feb 23, 2021

• add increment method to unit quaternion

  petercorke

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