History¶
0.9.2 (TBD)¶
Bug fixes & improvements¶
Fixed an error related to a deprecated matplotlib.pyplot reference, see Issue #35 <https://github.com/phausamann/rigid-body-motion/issues/35>.
0.9.1 (January 13th, 2022)¶
Bug fixes & improvements¶
Fixed package installation through pip (version 0.9.0 is no longer available).
0.9.0 (December 29th, 2021)¶
Breaking changes¶
Dropped support for Python 3.6.
Bug fixes & improvements¶
Fixed issue with matplotlib versions >= 3.5.
0.8.0 (May 27th, 2021)¶
New features¶
New
ros.init_node
method to initialize a ROS node and optionally start a ROS master.
Bug fixes & improvements¶
All ROS dependencies are now lazily imported.
0.7.0 (May 19th, 2021)¶
New features¶
New
from_euler_angles
utility method.
Bug fixes & improvements¶
Importing ROS interface classes will not fail silently anymore and instead show the traceback of the import error.
0.6.0 (May 17th, 2021)¶
Breaking changes¶
Example data is now fetched via the
pooch
library and no longer a part of the package itself.
New features¶
New
io
module for import/export methods.New
ros.RosbagWriter
class for writing rosbag files.
0.5.0 (March 16th, 2021)¶
Breaking changes¶
Top-level reference frame transform and lookup methods now all accept a
return_timestamps
argument that isFalse
by default. Previously, methods would return timestamps only if the result of the transformation was timestamped. This does not affect the xarray interface.lookup_transform
now returns the correct transformation from the base frame to the target frame (instead of the other way around).ReferenceFrame.get_transformation
is deprecated and replaced byReferenceFrame.lookup_transform
.
New features¶
New
plot
module with plotting methods for static reference frames and arrays of points, quaternions and vectors.New
lookup_pose
method that calculates the pose of a frame wrt another.
Bug fixes & improvements¶
Fixed
"reference_frame"
attribute incorrectly set bytransform_vectors
.
0.4.1 (February 18th, 2021)¶
Bug fixes & improvements¶
Fixed
transform_coordinates
failing when spatial dimension is first axis of array.Fixed
transform_linear_velocity
andtransform_angular_velocity
failing when reference frame or moving frame is transformed across only static transforms.Added
allow_static
parameter tolookup_twist
,lookup_angular_velocity
andlookup_linear_velocity
to return zero velocity and no timestamps across only static transforms.
0.4.0 (February 11th, 2021)¶
New features¶
New
lookup_linear_velocity
andlookup_angular_velocity
top-level methods.New
render_tree
top-level method for printing out a graphical representation of a reference frame tree.lookup_twist
now accepts amode
parameter to specify the mode for angular velocity calculation.
Bug fixes & improvements¶
Fixed a bug where estimated angular velocity was all NaN when orientation contained NaNs.
0.3.0 (December 8th, 2020)¶
New features¶
Reference frames with timestamps now accept the
discrete
parameter, allowing for transformations to be fixed from their timestamp into the future.rbm
accessor for DataArrays implementingqinterp
andqinv
methods.New
best_fit_rotation
andqinterp
top-level methods.
Bug fixes & improvements¶
Refactor of internal timestamp matching mechanism defining a clear priority for target timestamps. This can result in slight changes of timestamps and arrays returned by transformations but will generally produce more accurate results.
Added
mode
andoutlier_thresh
arguments toestimate_angular_velocity
.Fixed issues with
iterative_closest_point
.
0.2.0 (October 22nd, 2020)¶
New features¶
New
estimate_linear_velocity
andestimate_angular_velocity
top-level methods.New
qmul
top-level method for multiplying quaternions.
0.1.1 (September 17th, 2020)¶
Bug fixes¶
Fix transformations failing for DataArrays with non-numeric coords.
0.1.0 (September 17th, 2020)¶
First release