3D transformations for Python.
pytransform3d.transformations.pq_slerp
, which performs linear interpolation of position and SLERP of quaternion.pytransform3d.rotations.norm_angle
.arccos
in some conversion functions.TemporalTransformManager
to handle dynamic transformations.pytransform3d.transform_manager
into a subpackage.TransformGraphBase
from TransformManager
that contains common code of TransformManager
and TemporalTransformManager
.numpy.random.RandomState
is legacy code, see good practices with numpy random number generators). random_state
arguments will also be renamed to rng
. With this change pytransform3d does not work with Python 2 anymore as there is no NumPy version for Python 2 that supports the new random number generator interface.
pytransform3d.rotations
pytransform3d.rotations.check_mrp
pytransform3d.rotations.mrp_from_quaternion
pytransform3d.rotations.quaternion_from_mrp
pytransform3d.transformations
pytransform3d.uncertainty
with the following functions:
estimate_gaussian_transform_from_samples
invert_uncertain_transform
concat_uncertain_transforms
pose_fusion
to_ellipsoid
to_projected_ellipsoid
plot_projected_ellipsoid
pytransform3d.plot_utils.plot_spheres
to plot multiple spheres more efficiently.pytransform3d.coordinates
.strict_check
of pytramsform.camera.plot_camera
.Last version with Python 2 support!
random_state
argument to rng
in all functions that use random number generators. This change will prepare the transition to the new numpy random number generator interface in version 3.0.0 of pytransform3d. The old argument name still works and prints out a deprecation warning.TransformManager
with to_dict
which produces a serializable dict. An identical object can be created from a deserialized dict with from_dict
.pytransform3d.rotations.check_matrix
). Instead of checking the determinant, only the components of R.dot(R.T)
will be compared with I
.New interface to Euler angles
rotations.euler_from_quaternion
to convert quaternions to arbitrary Euler angles (#207)rotations.quaternion_from_angle
quaternion_from_euler
to convert from arbitrary Euler angles to quaternion (#211)matrix_from_euler
to convert from arbitrary Euler angles to active rotation matrixeuler_from_matrix
to convert from active rotation matrix to arbitrary Euler anglesplot_utils.plot_cylinder
and plot_utils.plot_cone
in case of axis alignment (#206)rotations.quaternion_from_extrinsic_euler_xyz