* Add conversions between axis-angle representation and MRP * Add functions to write numerically stable code and avoid pitfalls * `matrix_requires_renormalization` - check if rotation matrix needs renormalization * `norm_euler` - maps Euler angles to unique interval * `euler_near_gimbal_lock` - checks if angles are close to gimbal lock singularity * `assert_euler_almost_equal` - checks if two sets of Euler angles are similar * `compact_axis_angle_near_pi` - check if angle is close to pi * `quaternion_double` - create another quaternion that represents the same orientation (double cover) * `quaternion_requires_renormalization` - check if quaternion needs renormalization * `mrp_near_singularity` - check if angle is close to 2 * pi * `norm_mrp` - normalize angle to [-pi, pi] * `mrp_double` - create another mrp that represents the same orientation (double cover) * `assert_mrp_almost_equal` - check if two mrp vectors are similar * `transform_requires_renormalization` - check if transformation matrix needs renormalization * `assert_exponential_coordinates_almost_equal` - check if exp. coordinates are similar * `dual_quaternion_requires_renormalization` - check if dual quaternion needs renormalization * `dual_quaternion_double` - create another dual quaternion that represents the same transformation (double cover)
Documentation
* Sort API documentation of rotations and transformations by representation * Correct documentation of angle limits for Euler angles
* Fix PDF documentation * Link examples in user guide about rotations and transformations * Correct grammatical errors and typos * Document how Gaussian distributions of transformations are computed * Fix logo for dark mode (297) * Review documentation of UrdfTransformManager * Explain example "Probabilistic Product of Exponentials" step by step * Explain example "Concatenate Uncertain Transforms" step by step * Explain quaternion operations
3.6.2
Documentation
* Improve rotor explanation * Review user guide sections on rotations, transformations, and camera * Add user guide section about uncertainty module (fix 291) * Fix sidebar in section about ambiguities * Better names of user documentation sections * Remove animation section * Add cross-references in API documentation
3.6.1
Documentation
* Use pydata-sphinx-theme, remove sphinx-bootstrap-theme. (Fix 287) * Fix Open3D scraper for latest version of sphinx-gallery. (Fix 286) * Show logo in sphinx documentation
3.6.0
Documentation
* Remove pyrender example * Reference references in user documentation
Bugfixes
* Fix `pytransform3d.visualizer.Figure.view_init` for open3d >= 0.17 * Fix a bug with loading COLLADA scenes as meshes in a URDF that was caused by a changed interface of trimesh (284)