Pytransform3d

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

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

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

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

Documentation

* Fix interpretation of rotation matrix (see 321)

Testing

* Add Python versions 3.12 and 3.13 to CI

Features

* Add class `plot_utils.Camera` for animations of camera frames.

Documentation

* Update installation instructions to be compatible with zsh.
* Fix array shape in a docstring.