History

0.9.3 (June 17th, 2025)

Dependency changes

  • Removed unnecessary <2 restriction on numpy dependency.

0.9.2 (February 9th, 2025)

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>.

Internal changes

  • Packaging is now handled by uv.

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 is False 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 by ReferenceFrame.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 by transform_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 and transform_angular_velocity failing when reference frame or moving frame is transformed across only static transforms.

  • Added allow_static parameter to lookup_twist, lookup_angular_velocity and lookup_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 and lookup_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 a mode 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 implementing qinterp and qinv methods.

  • New best_fit_rotation and qinterp 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 and outlier_thresh arguments to estimate_angular_velocity.

  • Fixed issues with iterative_closest_point.

0.2.0 (October 22nd, 2020)

New features

  • New estimate_linear_velocity and estimate_angular_velocity top-level methods.

  • New qmul top-level method for multiplying quaternions.

0.1.2 (October 7th, 2020)

Improvements

  • Use SQUAD instead of linear interpolation for 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