3.9.0

Highlight

The TemporalTransformManager now allows vectorized queries along the time axis (contributed by @JonasHablitzel), for example,

tm = TemporalTransformManager()
tm.add_transform("A", "W", A2world)
tm.add_transform("B", "W", B2world)
A2B_at_start_time, A2B_after_start_time = tm.get_transform_at_time("A", "B", [0.0, 0.1])

Features

• Add mrp_prod_vector to apply modified Rodrigues parameters to a vector
• Add alias rot_log_from_compact_axis_angle for cross_product_matrix
• Add alias check_rot_log for check_skew_symmetric_matrix
• Add batch_rotations.norm_axis_angles
• Add batch_rotations.axis_angles_from_quaternions
• Add trajectories.concat_many_to_many
• Add trajectories.concat_dynamic
• Add trajectories.screw_parameters_from_dual_quaternions
• Add trajectories.dual_quaternions_from_screw_parameters
• Add trajectories.dual_quaternions_power
• Add trajectories.dual_quaternions_sclerp
• Add trajectories.batch_dq_q_conj
• Vectorize TimeVaryingTransform.as_matrix and TemporalTransformManager.current_time to enable querying transformations for multiple times at once (#301)

Bugfixes

• Fix mrp_double for no rotation (np.zeros(3))