[WIP] Refactor TransformManager and introduce TemporalTransformManager

[codecov-commenter]

Codecov Report

Patch coverage: 100.00% and no project coverage change.

Comparison is base (101a224) 100.00% compared to head (1f0dcd2) 100.00%.

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Additional details and impacted files

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[kopytjuk]

Hey @AlexanderFabisch ,

As you can see in https://github.com/dfki-ric/pytransform3d/pull/257, the state of this PR is fine for the new stateful TemporalManager (great idea btw!).

Two small (non-blocking) remarks:

• You still can "tweak" around a bit, when you move _path_transform to the base class here.
• Do we still need so many abstract interfaces such as _get_transform, _transform_available, _invert_transform - imho we can just use the transforms property

See you around :)

[AlexanderFabisch]

@kopytjuk

So here are some open points:

• [x] Add TemporalTransformManager to API documentation
• [ ] Update tutorial about temporal transformations
• [ ] Discussion: should we include another subclass of TimeVaryingTransformation for dynamic transformations that allows interpolation? Maybe the example has to be updated.

For the last point: I think we could do it. We could also do this based on pandas, but only with pandas as an optional dependency. If it is not available, this feature is just not available.

For the documentation I'm not sure how it should be changed. @kopytjuk you are the expert in this domain, would you take a look?

[kopytjuk]

Should we split those two open points in separate PRs?

Currently the changes from this PR affect the "backend" of the lib - after we merge this one into develop we will extend the documentation.

Imho it is easier to digest smaller changes than a huge PR...

[AlexanderFabisch]

Yes, I just did that.