2021-04-18

[petercorke]

• Added exp2r and exp2tr to convert exponential coordinates (Euler vectors) to SO(3) and SE(3) respectively
• Angular velocity transforms:
  • Reinstated rot2jac
  • Added angvelxform which will be a more generic way to convert angular velocity to/from other representation rates
  • Created symbolic/rotation-derivative.ipynb to automate the generation of these Jacobians
  • unit tests for all this stuff
  • representations are written in the form rpy/xyz rather than rpy-xyz to be consistent
  • there's still work to do around the exponential coordinate case
  • there's proto code angvelxform_dot to compute the derivative of this transform, needed for operational space control
• fixed rare acts domain error issue in converting rotation matrix to RPY or Euler angles
• SE3.Exp() now accepts se(3) matrix
• SE2 now has .Tx and .Ty constructors
• r2q and UnitQuaternion.vec_xyzs can output a quaternion in the order (vx, vy, vz, s) which is useful for three.js and pybullet (thanks Jesse)
• by default the .printline method, trprint, trprint2 do compact printing, you need to pass a fixed width format if you want tabular display
• unitvec_norm now returns (None, None) if the argument is zero, previously was None