Releases: dfki-ric/pytransform3d
Releases · dfki-ric/pytransform3d
2.0.0
Breaking Changes
Removed functions / constants:
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
Features
- Add pytransform3d.rotations.quaternion_from_extrinsic_euler_xyz
Bugfixes
- Fix edge case in
axis_angle_from_matrix
(#198) - Raise
ValueError
when no quaternion is passed tosmooth_quaternion_trajectory
1.14.0
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
1.13.0
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 inquaternion_slerp_batch
,quaternion_slerp
, androtor_slerp
- Add artist
Plane
to visualizer
Bugfixes
- Indicate that parameter
c
is optional in type hints of functionpytransform3d.visualizer.Figure.plot
- Document
slerp_weights
and correct type hints - Fix
Vector3D.set_data
with parameterc=None
(default value)
1.12.1
Fix plot_bivector for Matplotlib >= 3.5
1.12.0
Features
- Add option
draw_label_indicator
toFrame
artist class for Matplotlib
Bugfixes
- Make Arrow3D compatible to matplotlib 3.5
Documentation
- Describe SE(3) more clearly.
1.11.0
Features
- Adds function
Figure.vector
and artistVector3D
to Open3D-based visualizer - Adds function
Figure.scatter
and artistPointCollection3D
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
1.10.0
As of version 1.10.0 pytransform3d will use semantic versioning. 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
, andplot_cone
topytransform3d.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 andconcat_many_to_one
to concatenate many transformations to one other - Relaxes thresholds for screw axis validation
1.9.1
Fixes broken installation of subpackages in version 1.9.
1.9
Warning
This release is broken. Subpackages will not be installed. Use 1.9.1.
Refactoring
- Large modules are split into multiple files (non-breaking change)
- Refactoring of URDF parser
- Matplotlib is not strictly necessary anymore to use the core code of pytransform3d without its plotting features
Features
- Adds type hints for static type checking in additional type stubs (files with ending .pyi)
- Adds
trajectories.invert_transforms
to invert multiple transformation matrices at once - Adds function to parse inertial tag in URDF
- Makes some validations before conversions optional
- Adds option to visualize ellipsoid
- Adds rotors as a new concept to represent rotations
Bugfixes
- Fixes numerical issue in conversion from matrix to axis-angle representation
1.8
- Adds unit dual quaternions as a new representation of transformations.
- Adds batch operations on unit dual quaternions.
- Adds screw linear interpolation (ScLERP) for dual quaternions.
- Adds functions to visualize and plot a camera configuration in 3D.
- Adds function to remove an artist from the Open3D visualizer.
- Fixes deprecation warnings of numpy and matplotlib.