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1. Commits on Feb 28, 2022

   • prefix most quaternion functions in base with 'q', make them a bit more unique in the namespace when using import *

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     petercorke

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2. Commits on Feb 3, 2022

   • add new functions for analytic representations

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     petercorke

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   • split 3D plot tests into separate function, kind of slow to run

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3. Commits on Jan 31, 2022

   • major rework of docstrings

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     petercorke

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4. Commits on Nov 4, 2021

   • choose a different quaternion, one with non zero scalar part. Windows unit tests give different (but valid in double mapping) answer in this situation

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   • add new unit tests for velocity transforms and angular representation functions

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   • update unit tests for graphics

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5. Commits on Sep 13, 2021

   • support API changes

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6. Commits on Jul 24, 2021

   • change geom3d class names

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     petercorke

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7. Commits on May 23, 2021

   • black applied to base and tests/base

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   • Change names of Plucker constructors to TwoPoints and TwoPlanes

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

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8. Commits on May 2, 2021

   • Add exponential coordinates to angvelxform and angvelxform_dot

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9. Commits on Apr 18, 2021

   • New tests for angular velocity Jacobians

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   • change due to compact printing

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   • Fix error in lamba return value from intersect_plane, make this computation its own method

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   • add unit tests for angvec to SO3/SE3

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   • new: create SO3/SE3 from exponential coordinates

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10. Commits on Apr 15, 2021

    • added r2q order and tests

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11. Commits on Apr 6, 2021

    • make trprint and printline default format to be compact

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12. Commits on Mar 28, 2021

    • fix bug with SE2 to SE3 conversion

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    • Change names of superclasses to be consistent and standard

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13. Commits on Mar 24, 2021

    • change to UnitQuaternion constructor,

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14. Commits on Mar 14, 2021

    • skip symbolic tests if no sympy

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15. Commits on Feb 28, 2021

    • changes to interp

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    • Allow Eul RPY constructor to accept positional args as well as vectors

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    • fix bugs around animation

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      petercorke

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    • unit quaternion has positive scalar part

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16. Commits on Feb 24, 2021

    • reflect change to tr2jac

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    • change to interp, always has start and end,

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      petercorke

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    • fix bug in passing matrix to RPY

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17. Commits on Feb 23, 2021

    • add increment method to unit quaternion

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18. Commits on Feb 14, 2021

    • test new options

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    • changes to interp, now takes an array_like

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      petercorke

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19. Commits on Feb 1, 2021

    • h2e, e2h always return column vector

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