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rai-opensource
spatialmath-python
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[DO NOT MERGE] Integration: PR backlog
- #285
#285
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taughz
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[DO NOT MERGE] Integration: PR backlog
#285
taughz
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Commits on Oct 10, 2026
Accept a stacked (N, r, c) array as a sequence of poses
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SE3: accept a stacked (N, 4, 4) array and say what is accepted in the error
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Test SE3 and SO3 construction from a stacked array
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Commits on Oct 14, 2026
fix: preserve rotation quadrants in trlog2
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Commits on Oct 15, 2026
Defer optional SymPy loading until symbolic use
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Check symbolic scalar types dynamically
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Defer SymPy loading in transforms2d.py
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Defer SymPy loading in transformsNd.py
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Defer SymPy loading in vectors.py
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Test optional SymPy loading in fresh interpreters
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Merge branch 'rai-opensource:master' into perf/lazy-sympy
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Commits on Oct 16, 2026
Using check=False seems to return empty types
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Commits on Oct 17, 2026
fix(graphics): axes_logic uses an empty current figure instead of creating a second one
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fix(graphics): preserve unspecified dimensions in expand_dims
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Commits on Oct 22, 2026
fix(geom3d): return a point from intersecting lines
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Commits on Oct 26, 2026
Fix pi() docstring indentation and stray import in runblock
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Keep check=False lenient; reject only wrong-size stacked arrays
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Merge upstream master and retain both expand_dims test suites
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Solve the plane equations for a three-plane intersection
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Fix the constant coefficient sign in Plane3.contains
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Include line moment when constructing a plane from a line and point
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Commits on Nov 5, 2026
deprecate: UnitQuaternion.interp1's shortest parameter is a no-op
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fix: Twist3 * SpatialVector raised ValueError instead of dispatching
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Defer scipy imports in spline.py
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Defer scipy.interpolate import in quaternions
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Add test that importing spatialmath does not load scipy
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perf: compute Twist3.Ad() directly instead of via a throwaway SE3
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fix: twist sequence predicates, scalar left-multiply, and copied docstrings
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docs: describe the displacement and velocity usages of Twist2/Twist3
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feat(base): add environment() and move isnotebook out of the matplotlib block
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chore: bump version to 1.1.19
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Move three-plane tests to the end of the test file
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build: drop oldest-supported-numpy from build requirements
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Merge PR #210: fix: Twist3 * SpatialVector raised ValueError instead of dispatching
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Merge PR #256: fix: preserve rotation quadrants in trlog2
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Merge PR #258: fix: twist sequence predicates, scalar left-multiply, copied docstrings; document twist usages (builds on #248)
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Merge PR #270: fix(graphics): accept unspecified dimensions in expand_dims
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Merge PR #209: deprecate: UnitQuaternion.interp1's shortest parameter is a no-op
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Merge PR #211: perf: compute Twist3.Ad() directly instead of via a throwaway SE3
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Merge PR #243: Accept a stacked (N, r, c) ndarray as a sequence of poses (SE3, SO3, SE2, SO2)
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Merge PR #244: Defer scipy imports so import spatialmath is faster
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Merge PR #264: Defer optional SymPy imports until symbolic operations need them
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Merge PR #265: fix(graphics): axes_logic uses an empty current figure instead of creating a second one
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Merge PR #271: feat(base): add environment() and move isnotebook out of the matplotlib block
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Merge PR #273: fix(geom3d): return the intersection point of two lines
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Merge PR #279: Fix intersection of three planes
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Merge PR #280: Fix the constant coefficient sign in Plane3.contains
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Merge PR #281: Include line moment when constructing a plane from a line and point
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Merge PR #286: build: drop oldest-supported-numpy from build requirements
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Merge PR #284: chore: bump version to 1.1.19
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