3.12.0

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

3.11.0

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

3.10.1

Documentation

• Fix interpretation of rotation matrix (see #321)

Testing

• Add Python versions 3.12 and 3.13 to CI

3.10.0

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.

3.9.0

Highlight

The TemporalTransformManager now allows vectorized queries along the time axis (contributed by @JonasHablitzel), for example,

tm = TemporalTransformManager()
tm.add_transform("A", "W", A2world)
tm.add_transform("B", "W", B2world)
A2B_at_start_time, A2B_after_start_time = tm.get_transform_at_time("A", "B", [0.0, 0.1])

Features

• Add mrp_prod_vector to apply modified Rodrigues parameters to a vector
• Add alias rot_log_from_compact_axis_angle for cross_product_matrix
• Add alias check_rot_log for check_skew_symmetric_matrix
• Add batch_rotations.norm_axis_angles
• Add batch_rotations.axis_angles_from_quaternions
• Add trajectories.concat_many_to_many
• Add trajectories.concat_dynamic
• Add trajectories.screw_parameters_from_dual_quaternions
• Add trajectories.dual_quaternions_from_screw_parameters
• Add trajectories.dual_quaternions_power
• Add trajectories.dual_quaternions_sclerp
• Add trajectories.batch_dq_q_conj
• Vectorize TimeVaryingTransform.as_matrix and TemporalTransformManager.current_time to enable querying transformations for multiple times at once (#301)

Bugfixes

• Fix mrp_double for no rotation (np.zeros(3))

3.8.0

Features

• 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

3.7.0

Features

• Add concatenation of modified Rodrigues parameters (#299 )
• Add TransformGraphBase.remove_frame (#300 )

Documentation

• 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)