- Internal code cleanup
- Speedup of individual point and vector transforms (322e842535bc845b2b52ef6d0d42245ac66cca44)
- Black code styling (not enforced)
- Added Frame methods extrinsic_euler_angles, intrinsic_euler_angles (43d50a3e0046ba6acdfeef109bc86690adec604b)
- Possibility to create frame rotation from quaternion (1aa9f9d0c7241422d99601be8e8d8cb9ac35963d)