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1. Commits on Jan 16, 2021

   • added timing for different norm options

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   • fix path for standalone unit tests

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   • test for dual quaternion

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2. Commits on Jan 10, 2021

   • move tests to top-level folder

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   • single argument version of angdiff

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   • add 3 new functions for SE(2)

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3. Commits on Jan 8, 2021

   • fix bugs in iseye and unittwist2

     petercorke

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   • add iszero

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   • Add cross, normsq

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4. Commits on Jan 4, 2021

   • add plotvol

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   • add functions to create 2d and 3d plot volumes

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   • add test for integer argument

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5. Commits on Jan 1, 2021

   • polish doco

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   • polish quaternion log/exp

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6. Commits on Dec 31, 2020

   • Remove 3.88 syntax to help build on old Python

     petercorke

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   • Added dual quaternions

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7. Commits on Dec 30, 2020

   • make norm() handle symbolic arguments

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   • make det() handle symbolic arguments

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   • getmatrix has dtype arg

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8. Commits on Nov 30, 2020

   • debug zero code coverage

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   • Note the low precendence of operators for lines

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   • benchmark more functions

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   • computation speedups

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   • Fix LGTM issues

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9. Commits on Nov 22, 2020

   • Major update

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10. Commits on Nov 16, 2020

    • updates

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11. Commits on Nov 15, 2020

    • Make LGTM happier

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      petercorke

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    • fixup Plucker tests

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    • doco polish

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    • add rodrigues to base __all__

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12. Commits on Nov 14, 2020

    • consistent documentation notation

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    • exceptions

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    • Split tests

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13. Commits on Nov 12, 2020

    • code tidyup

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14. Commits on Nov 11, 2020

    • polish

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