Pytransform3d

Bugfixes

- Fix `pytransform3d.rotations.axis_angle_from_matrix` with floating point precision errors in input rotation matrix (189)

Deprecations

- pytransform3d.rotations.matrix_from
- pytransform3d.rotations.matrix_from_angle
- pytransform3d.rotations.matrix_from_euler_xyz
- pytransform3d.rotations.matrix_from_euler_zyx
- pytransform3d.rotations.euler_xyz_from_matrix
- pytransform3d.rotations.euler_zyx_from_matrix
- pytransform3d.rotations.assert_euler_xyz_equal
- pytransform3d.rotations.assert_euler_zyx_equal
- pytransform3d.rotations.e_xyz_id
- pytransform3d.rotations.e_zyx_id

Documentation

- Changed URL to https://github.com/dfki-ric/pytransform3d

Features

- Add `pytransform3d.rotations.pick_closest_quaternion`
- Add `pytransform3d.batch_rotations.smooth_quaternion_trajectory`
- Add `pytransform3d.trajectories.mirror_screw_axis_direction`
- Add optional parameter `shortest_path` to indicate that sign ambiguity should be resolved in `quaternion_slerp_batch`, `quaternion_slerp`, and `rotor_slerp`
- Add artist `Plane` to visualizer

Bugfixes

- Indicate that parameter `c` is optional in type hints of function `pytransform3d.visualizer.Figure.plot`
- Document `slerp_weights` and correct type hints
- Fix `Vector3D.set_data` with parameter `c=None` (default value)

Features

* Add option `draw_label_indicator` to `Frame` artist class for Matplotlib

Bugfixes

* Make Arrow3D compatible to matplotlib 3.5

Documentation

* Describe SE(3) more clearly.

Features

* Adds function `Figure.vector` and artist `Vector3D` to Open3D-based visualizer
* Adds function `Figure.scatter` and artist `PointCollection3D` to Open3D-based visualizer

Documentation

* Updates copyright information in license file
* Updates contribution guidelines
* Increase software quality stage in manifest.xml to stage 2

Continuous Integration

* Runs CircleCI with Python 3.10 and pytest

As of version 1.10.0 pytransform3d will use [semantic versioning](https://semver.org/). New versions will be developed on the branch `develop` and each merge to the master branch will result in a new version.

Furthermore, 1.10.0...
* Adds `pytransform3d.rotations.plane_basis_from_normal`
* Adds `plot_ellipsoid`, `plot_capsule`, and `plot_cone` to `pytransform3d.plot_utils`
* Adds visualization of capsule and cone
* Adds `pytransform.coordinates` to convert between different coordinate systems (Cartesian, spherical, cylindrical)
* Adds function to make batch conversions between scalar last and scalar first quaternions
* Adds `trajectories.concat_one_to_many` to apply one transformation to multiple others and `concat_many_to_one` to concatenate many transformations to one other
* Relaxes thresholds for screw axis validation