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@AlexanderFabisch AlexanderFabisch released this 19 Jun 10:07
· 689 commits to master since this release
1.9
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Learn about vigilant mode.

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
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