Pytransform3d

Features

* Add `pytransform3d.transformations.pq_slerp`, which performs linear interpolation of position and SLERP of quaternion.

Bugfixes

* Fix serialization of TransformManager objects.

Documentation

* Add connections between docstrings through "See Also" sections.

Refactoring

* Rename branch master to main.

Features

* More general mesh loader that can handle more file formats (e.g., collada), loads meshes more robustly, and enables dynamic selection of available libraries to load a mesh (currently supported: Open3D, trimesh).

Bugfixes

* Improve numerical precision of `pytransform3d.rotations.norm_angle`.
* Clamp argument to range [-1, 1] before applying `arccos` in some conversion functions.

Refactoring

* Extract common geometric code used for visualization and plotting and move it to the geometry module.

Documentation

* Improve discussion of pros and cons of rotation representations.

Features

* Add option to visualize convex hull of collision objects.
* Add `TemporalTransformManager` to handle dynamic transformations.

Documentation

* New logo.
* Add section on temporal alignment of transformations.

Refactoring

* Remove dependency beautifulsoup4 and use lxml for URDF parsing.
* Turn `pytransform3d.transform_manager` into a subpackage.
* Extract base class `TransformGraphBase` from `TransformManager` that contains common code of `TransformManager` and `TemporalTransformManager`.

Bugfixes

* Fix edge cases of euler angle computation from rotation matrix
* Fix inconsistency when removing transforms from the `TransformManager`

Documentation

* Add citation file (CITATION.cff) to repository

Bugfixes

* Include Python stub files with type hints in package

Features

- Concatenation of locally uncertain transformations: `pytransform3d.uncertainty.concat_locally_uncertain_transforms`; needed for probabilistic product of exponentials
<img src="https://user-images.githubusercontent.com/869592/230717927-7d0a4b99-b30d-4de9-a5b5-2e6faa7461f9.gif" width="200px" />