2021-02-28

[petercorke]

• @ operator for pose objects, like * but does an explicit normalization
• interp has changed quite a bit:
  • now X1.interp(X2, s) rather than X2.interp(s, start=X1)
  • new interp1 method interpolates between null and X, eg. X.interp1(s)
  • integer value of s is interpretted as s even steps between 0 and 1
• UnitQuaternions now always have a positive scalar part
• base functions plot_point, plot_text, plot_box like their MATLAB cousins
• tranimate works in Jupyter with notebook backend, lots of internal improvements
  with animation
• trplot now has an implemented anaglyph mode. Have a play and give feedback.
• SE3 and SO3 constructors Eul and RPY can now accept the angles as
  3 positional arguments rather than just a vector, eg. SO3.RPY(1,2,3)
• There is a prototype UnitDualQuaternion class