2.2.0

Features

New interface to Euler angles

• Add rotations.euler_from_quaternion to convert quaternions to arbitrary Euler angles (#207)
• Add rotations.quaternion_from_angle
• Add quaternion_from_euler to convert from arbitrary Euler angles to quaternion (#211)
• Add matrix_from_euler to convert from arbitrary Euler angles to active rotation matrix
• Add euler_from_matrix to convert from active rotation matrix to arbitrary Euler angles

Bugfixes

• Fix plot_utils.plot_cylinder and plot_utils.plot_cone in case of axis alignment (#206)

Deprecated

• rotations.quaternion_from_extrinsic_euler_xyz

2.1.0

Refactoring

• UrdfTransformManager also stores fixed joints internally #203

Bugfixes

• Use numpy.int64 instead of numpy.int

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 to smooth_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 in quaternion_slerp_batch, quaternion_slerp, and rotor_slerp
• Add artist Plane to visualizer

Bugfixes

• Indicate that parameter c is optional in type hints of function pytransform3d.visualizer.Figure.plot
• Document slerp_weights and correct type hints
• Fix Vector3D.set_data with parameter c=None (default value)

1.12.1

Fix plot_bivector for Matplotlib >= 3.5

1.12.0

Features

• Add option draw_label_indicator to Frame 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 artist Vector3D to Open3D-based visualizer
• Adds function Figure.scatter and artist PointCollection3D 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, and plot_cone to pytransform3d.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 and concat_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.