2021年02月28日 · bdaiinstitute/spatialmath-python · Discussion #17 · GitHub

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petercorke
Apr 18, 2021
Maintainer

@ operator for pose objects, like * but does an explicit normalization
interp has changed quite a bit:
- now X1.interp(X2, s) rather than X2.interp(s, start=X1)
- new interp1 method interpolates between null and X, eg. X.interp1(s)
- integer value of s is interpretted as s even steps between 0 and 1
UnitQuaternions now always have a positive scalar part
base functions plot_point, plot_text, plot_box like their MATLAB cousins
tranimate works in Jupyter with notebook backend, lots of internal improvements
with animation
trplot now has an implemented anaglyph mode. Have a play and give feedback.
SE3 and SO3 constructors Eul and RPY can now accept the angles as
3 positional arguments rather than just a vector, eg. SO3.RPY(1,2,3)
There is a prototype UnitDualQuaternion class

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