2021-09-13

[petercorke]

0.11

New features:

• geom2d
  • Polygon2, fairly full featured 2d polygon class leveraging Matplotlib functions. Surprised to find that capability there, but likely written in C and fast
  • Line2, 2d line class
    * LineSegment2, 2d line segment class
• geom3d has method to plot a Plane object
• strline method for pose classes, like printline but returns a string
• added points2tr2 to compute SE(2) from corresponding points
• added Bresenham algorithm

Changes:

• Plucker class is now Line3
• Twist classes
  • pitch, pole, theta are now properties, not methods
  • unit twist constructors Revolute and Prismatic are now named UnitRevolute and UnitPrismatic
• base/plot_point argument label is now text, label is a useful Matplotlib argument
• made various __str__ and __repr__ methods a bit more informative
• deprecate AngVec in favour of AngleAxis
• Line3d.closest_to_point returns a tuple not named tuple
• all plot methods now call base/axes_logic to handle creation of axes, does the right thing if say you have a 3d plot then try and do a 2d plot on top of that.