1.1.19

What's Changed

• fix: skip docs build/publish on pull_request, not just push by @petercorke in #222
• fix: normalize ICP2d's returned transform to exact orthonormality by @petercorke in #204
• Fix Line3 distance for parallel and non-unit directions by @Doribelove in #224
• Require typing_extensions with Self support on Python 3.10 by @Doribelove in #233
• fix: preserve small rotations in quaternion logarithms by @dddd-jh in #237
• Fold latitude angles correctly across complete turns by @xiehuanyi in #241
• Make vector projections independent of direction scale by @xiehuanyi in #242
• fix: version guard catches everything and leaves it unset on failure by @petercorke in #206
• test: add regression coverage for trlog near-identity division by @petercorke in #208
• refactor(base): collapse the three-way Python-version type shim into one file by @petercorke in #212
• perf(base): speed up isR/ishom/ishom2 orthogonality checks by @petercorke in #213
• perf(base): speed up trnorm and tr2adjoint by @petercorke in #214
• perf(base): speed up qqmul and qvmul by @petercorke in #215
• perf(base): speed up isskewa, cache identity in trexp/trlog/rodrigues by @petercorke in #216
• chore: switch docs build to PyPI sphinx-pyrunblock instead of git+https by @petercorke in #221
• docs: add sphinx-copybutton and sphinx-codeautolink by @petercorke in #223
• fix: broken docstring examples in Twist2/Twist3/DualQuaternion (and their shared root cause) by @petercorke in #225
• chore: declare Python 3.13/3.14 support, add 3.14 to CI by @petercorke in #228
• chore: reorganize timing script as benchmarks/benchmark_smtb.py by @petercorke in #229
• fix: trplot/trplot2 silently swallowed unknown keyword arguments by @petercorke in #230
• Make Line3 relation tests invariant to Plücker scale by @Doribelove in #232
• Fix animation start pose being applied twice in Animate.trplot by @RoboX2020 in #238
• Reject unsupported ndarray ranks in isvector by @MokiMeow in #239
• test+fix: direct tests for e2h/h2e, h2e rejects <2 rows, document contract by @petercorke in #240
• Broadcast scalar integration steps over twist sequences by @antonsoo in #248
• Keep twist poles invariant under angular speed scaling by @antonsoo in #249
• fix: pre-commit is a development tool, not a runtime dependency by @petercorke in #250
• fix(base): angle_std returned nan for identical angles by @petercorke in #254
• Normalize the axis in UnitQuaternion.AngVec by @wpyaoxueros in #266
• fix: make the OA and conjugation docstrings raw strings by @petercorke in #251
• docs(base): fix the angle_std formula and the angle_mean and angle_wrap parameter docs by @petercorke in #253
• fix: Twist2.ad raised ValueError for every twist; add Twist2.Ad and SE2.Ad by @petercorke in #259
• docs: fix the math block in the tr2adjoint and tr2adjoint2 docstrings by @petercorke in #260
• fix(graphics): ignore sign of scalar in expand_dims, document reversed limits by @petercorke in #262
• feat(base): set_window_title, set the title of a figure's window if it has one by @petercorke in #263
• angvec2r: reject a zero axis for a non-zero angle by @petercorke in #267
• fix: Twist3 * SpatialVector raised ValueError instead of dispatching by @petercorke in #210
• fix: preserve rotation quadrants in trlog2 by @vera-rubin in #256
• fix: twist sequence predicates, scalar left-multiply, copied docstrings; document twist usages (builds on #248) by @petercorke in #258
• fix(graphics): accept unspecified dimensions in expand_dims by @Doribelove in #270
• deprecate: UnitQuaternion.interp1's shortest parameter is a no-op by @petercorke in #209
• perf: compute Twist3.Ad() directly instead of via a throwaway SE3 by @petercorke in #211
• Accept a stacked (N, r, c) ndarray as a sequence of poses (SE3, SO3, SE2, SO2) by @RoboX2020 in #243
• Defer scipy imports so import spatialmath is faster by @RoboX2020 in #244
• Defer optional SymPy imports until symbolic operations need them by @RoboX2020 in #264
• fix(graphics): axes_logic uses an empty current figure instead of creating a second one by @petercorke in #265
• feat(base): add environment() and move isnotebook out of the matplotlib block by @petercorke in #271
• fix(geom3d): return the intersection point of two lines by @Doribelove in #273
• Fix intersection of three planes by @xixihaha-ha in #279
• Fix the constant coefficient sign in Plane3.contains by @xixihaha-ha in #280
• Include line moment when constructing a plane from a line and point by @xixihaha-ha in #281
• build: drop oldest-supported-numpy from build requirements by @taughz in #286
• chore: bump version to 1.1.19 by @taughz in #284

New Contributors

• @Doribelove made their first contribution in #224
• @dddd-jh made their first contribution in #237
• @xiehuanyi made their first contribution in #241
• @RoboX2020 made their first contribution in #238
• @MokiMeow made their first contribution in #239
• @antonsoo made their first contribution in #248
• @wpyaoxueros made their first contribution in #266
• @vera-rubin made their first contribution in #256
• @xixihaha-ha made their first contribution in #279

Full Changelog: 1.1.18...1.1.19

1.1.18

Accumulated bug fixes

What's Changed

• Fix sphinx workflow to clone gh-pages from rai-opensource, not petercorke by @petercorke in #205
• ci: rename workflow to CI for badge consistency by @petercorke in #220
• Fix/twist pitch clean by @petercorke in #196
• Add Tim as a code owner by @taughz in #219
• test: force headless Matplotlib backend for local + CI test runs by @petercorke in #197
• Support derived Animate classes in order to use the same axes. by @tahsinkose in #50
• Use new colored API by @shermansiu in #173
• Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() by @binggao1230 in #193
• feat(pose,quaternion): add imatmul (@=) operator by @petercorke in #199
• refactor: consistent printline() across pose and quaternion classes by @petercorke in #200
• fix: SO3.RotatedVector returned identity for antipodal vectors by @petercorke in #201
• fix: support scalar/2-elem dim shorthand in tranimate/Animate by @petercorke in #202
• Fix sphinx automation by @myeatman-bdai in #162
• perf: defer Matplotlib import until something actually plots by @petercorke in #198
• Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint (Ad^-T) by @youdie006 in #207
• chore: bump version to 1.1.18 by @petercorke in #226

New Contributors

• @taughz made their first contribution in #219
• @tahsinkose made their first contribution in #50
• @shermansiu made their first contribution in #173
• @binggao1230 made their first contribution in #193
• @youdie006 made their first contribution in #207

Full Changelog: 1.1.17...1.1.18

1.1.17

What's Changed

• How to make a new release on PyPi instructions. by @myeatman-bdai in #183
• Update CI actions by @petercorke in #184
• Only explicitly support 3.10 and up. by @myeatman-bdai in #186
• Update README for two weeks past migration by @jbarry-bdai in #187
• Fix broken documentation link by @jbarry-bdai in #192
• Fixes to base.plot_box() by @petercorke in #179
• Fix typo on README.md due to change of location of the repo by @nmarticorena in #189
• fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2 by @petercorke in #194
• Update codeowners by @jbarry-bdai in #203
• docs: fix Sphinx docstring formatting and reST syntax errors by @petercorke in #195

Full Changelog: 1.1.16...1.1.17

1.1.16

What's Changed

• Change to new RAI Institute copyright by @baxelrod-bdai in #175
• Migration notice added to README by @jbarry-bdai in #178
• Fix breaking bug in angvec2r. by @petercorke in #180
• Update links for new org by @jbarry-bdai in #181
• Towards new 1.1.16 release. by @myeatman-bdai in #182

New Contributors

• @jbarry-bdai made their first contribution in #178

Full Changelog: 1.1.15...1.1.16

1.1.15

Contains small bug fixes, and a new mean function for SE3 objects.

1.1.14

What's Changed

• Fix string equality warnings in SplineFit class by @scastro-bdai in #147
• [SW-1712] Pin ubuntu version in workflows by @baxelrod-bdai in #148
• Optional deps humble by @jbarnett-bdai in #150
• Temporarily remove pre commit config. by @myeatman-bdai in #153
• Bug fixes [Issue-136], [Issue-137] by @jcao-bdai in #138
• compute mean of a set of rotations by @petercorke in #160
• Add methods to convert SE3 to/from the rvec, tvec format used by OpenCV by @petercorke in #157
• Add q2str to convert quaternion to string by @petercorke in #158
• new method to construct an SO3 object by @petercorke in #159
• Fix for issue #144. by @petercorke in #155
• Fix the intersphinx source for matplotlib. by @petercorke in #156
• Format everything with black. by @myeatman-bdai in #161
• Fix trailing whitespace and end of file lines. by @myeatman-bdai in #164
• Bump version to 1.1.14. by @myeatman-bdai in #163

New Contributors

• @scastro-bdai made their first contribution in #147
• @baxelrod-bdai made their first contribution in #148
• @jbarnett-bdai made their first contribution in #150

Full Changelog: 1.1.13...1.1.14

1.1.13

What's Changed

• Interpolating spline by @myeatman-bdai in #141

Full Changelog: 1.1.12...1.1.13

1.1.12

What's Changed

• [Issue-127] Pin version to match apt-installed python3-matplotlib by @jcao-bdai in #133
• Add setter for rotation component of SE3. by @myeatman-bdai in #130
• Added constrained uniform sampling of angles for SE3, SO3, and Quaternions by @bokorn-bdaii in #139
• Bump version number for release. by @myeatman-bdai in #140

Full Changelog: 1.1.11...1.1.12

1.1.11

What's Changed

• Add BSplineSE3 class. by @myeatman-bdai in #128
• Fix several issues with animate described in [Issue-126] by @jcao-bdai in #131
• Fix several issues that broke the testing workflow by @jcao-bdai in #132

Full Changelog: 1.1.10...1.1.11

1.1.10

What's Changed

• Fixed fall through error in binary operation by @bokorn-bdaii in #117
• Fix UnitQuaternion constructor with v keyword. by @myeatman-bdai in #118
• Fixed code block bugs and clarified a sentence in intro.rst by @tjdwill in #120
• Created internal quaternion conversion function for SO3 by @bokorn-bdaii in #119
• Fixed [Issue-122] for interp by @jcao-bdai in #123
• Add python 3.12 to list of supported versions; exclude macos-latest+python3.7 from testing by @jcao-bdai in #124

New Contributors

• @tjdwill made their first contribution in #120

Full Changelog: 1.1.9...1.1.10