# 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];

BasePoseList -> "collections.UserList"

BasePoseMatrix -> BasePoseList

SO2 -> BasePoseMatrix

SO3 -> BasePoseMatrix

SE2 -> SO2

SE3 -> SO3

BaseTwist -> BasePoseList

Twist2 -> BaseTwist

Twist3 -> BaseTwist

Quaternion -> BasePoseList

UnitQuaternion -> Quaternion

Line3 -> BasePoseList

SpatialVector -> BasePoseList

SpatialM6 -> SpatialVector

SpatialF6 -> SpatialVector

SpatialVelocity -> SpatialM6

SpatialAcceleration -> SpatialM6

SpatialMomentum -> SpatialF6

SpatialForce -> SpatialF6

SpatialInertia -> BasePoseList

}