2021-05-23

[petercorke]

• convert between SE3 and SO3: use SE3(X) or SO3(X)

• can now take angdist between SE3 instances

• some changes to Plucker class:

  • constructors: PQ is now TwoPoints, Planes is now TwoPlanes
  • methods now for point on line closest to given point closest_to_point (was closest) and point on line closest to another line closest_to_line.
  • fleshed out angvelxform convert angular velocity to RPY, Euler, exponential coordinate rates
  • added angvelxform_dot which maps angular acceleration to RPY, Euler, exponential coordinate acceleration

• base/graphics, added ability to plot cuboid, cylinder and homogeneous line. Call signatures are now much more uniform, so quite a few changes but doco is unto date.

• base and tests/base is now formatted using black