# 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
}