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Release Notes for 1.9

Refactoring

• Large modules are split into multiple files (non-breaking change)
• Refactoring of URDF parser
• Matplotlib is not strictly necessary anymore to use the core code of pytransform3d without its plotting features

Features

• Adds type hints for static type checking in additional type stubs (files with ending .pyi)
• Adds trajectories.invert_transforms to invert multiple transformation matrices at once
• Adds function to parse inertial tag in URDF
• Makes some validations before conversions optional
• Adds option to visualize ellipsoid
• Adds rotors as a new concept to represent rotations

Bugfixes

• Fixes numerical issue in conversion from matrix to axis-angle representation

Notes

Release Checklist

• Update version number
• Make github release
• Update documentation

cd doc
make clean
make html
git clone git@github.com:rock-learning/pytransform3d.git --branch gh-pages
cd pytransform3d
rm -rf *
cp -R ../build/html/* .
git add *

• Publish on PYPI:

python setup.py sdist
twine upload dist/*

• Update version in conda forge: 1 2

Tools

flake8 pytransform3d examples  --show-source --ignore E402,F401,W503,W504,W605,E303 --statistics
pylint -d C0103,R1725,R0205 --extension-pkg-whitelist=numpy,open3d pytransform3d
mypy --check-untyped-defs pytransform3d
pytest -W ignore::DeprecationWarning --cov=pytransform3d pytransform3d  # dependencies: pytest pytest-cov

Checklist for New Features

• are there tests for every branch and special case?
• does it have docstrings?
• does it have type hints in the corresponding .pyi file?
• is it included in the API documentation?
• run flake8, pylint, and mypy
• should it be part of the user documentation?
• should it be included in any example script?