Development branch, release 3.0.0

[AlexanderFabisch]

TODO

• [x] check new images in gallery

Breaking Changes

• Switch to new random number generator interface of NumPy (numpy.random.RandomState is legacy code, see good practices with numpy random number generators). random_state arguments will also be renamed to rng.

Features

• pytransform3d.rotations
  • Add left Jacobian of SO(3) and its inverse
  • New representation of rotations: Modified Rodrigues Parameters (MRP)
    • Add input validation function: pytransform3d.rotations.check_mrp
    • Add conversion from quaternion to MRP: pytransform3d.rotations.mrp_from_quaternion
    • Add conversion from MRP to quaternion: pytransform3d.rotations.quaternion_from_mrp
• pytransform3d.transformations
  • Add left Jacobian of SE(3) and its inverse
  • Add function to generate random exponential coordinates
  • Extend function to generate random transformation matrices by mean and covariance argument
• Add new module pytransform3d.uncertainty with the following functions:
  • estimate_gaussian_transform_from_samples
  • invert_uncertain_transform
  • concat_uncertain_transforms
  • pose_fusion
  • to_ellipsoid
  • to_projected_ellipsoid
  • plot_projected_ellipsoid
• Add pytransform3d.plot_utils.plot_spheres to plot multiple spheres more efficiently.

Bugfixes

• Fix handling of integer inputs in conversion functions of pytransform3d.coordinates.
• Fix argument strict_check of pytramsform.camera.plot_camera.

Documentation

• More visually appealing introduction and description of TransformManager.
• Add introduction to 3D rigid transformations for beginners.
• Add more details on exponential coordinates of SO(3) and SE(3) in docstrings.

[codecov-commenter]

Codecov Report

Patch coverage: 100.00% and no project coverage change.

Comparison is base (c4a3b81) 100.00% compared to head (e79f2fe) 100.00%.

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Additional details and impacted files

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