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1. Commits on Nov 2, 2021

   • convert rotation matrix to 3-element analytical form as triple angles or expon coords

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   • handle the solution where det(R)=-1

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   • added numerical hessian

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   • ellipsoid should use 3dof chi2 function

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   • change arg order

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   • top/bottom depends on y-axis direction, added ltrb box type

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2. Commits on Sep 13, 2021

   • refactor rt2tr to handle symbolics

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   • tr2xyt now handles symbolic args

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   • add function to compute transform from corresponding points

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   • ensure that grid lines are at the bottom of all plot objects

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   • offset the centre of the sphere

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   • change argument from label to text

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3. Commits on Aug 12, 2021

   • track recent changes to anaglyph code

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   • change text argument to label

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   • allow animation client to set 3D projection type

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   • more informative str and repr methods

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4. Commits on Jul 25, 2021

   • Add new functions/classes

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   • doco

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   • integrate animation classes with axes_logic

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5. Commits on Jul 24, 2021

   • add array2str and bresenham

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   • doco, bug fixes, tidyup

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   • change point ordering to be compatible with MPL texture mapping

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   • add plot_cone

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   • add plot_poly() primitive

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   • pass limits to plot_homline

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   • move the test for matplotlib being installed into axes_logic

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   • add angle wrapping functions

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6. Commits on May 23, 2021

   • black applied to base and tests/base

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   • options are consistent, added cylinder, cuboid and homog line

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   • Add option for fine control of frame label placement wrt frame origin

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   • protect matrix formatting from black

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7. Commits on May 2, 2021

   • replace np.tile with np.newaxis

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   • Add exponential coordinates to angvelxform and angvelxform_dot

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8. Commits on Apr 18, 2021

   • move to consistently using rpy/xyz not rpy-xyz

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   • there is no theta argument

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