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Pull requests: rai-opensource/spatialmath-python
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perf(base): speed up isskewa, cache identity in trexp/trlog/rodrigues
#216
opened Aug 21, 2026 by
petercorke
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3 tasks done
perf(base): speed up qqmul and qvmul
#215
opened Aug 21, 2026 by
petercorke
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3 tasks done
perf(base): speed up trnorm and tr2adjoint
#214
opened Aug 21, 2026 by
petercorke
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3 tasks done
perf(base): speed up isR/ishom/ishom2 orthogonality checks
#213
opened Aug 21, 2026 by
petercorke
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2 tasks done
refactor(base): collapse the three-way Python-version type shim into one file
#212
opened Aug 20, 2026 by
petercorke
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perf: compute Twist3.Ad() directly instead of via a throwaway SE3
#211
opened Aug 20, 2026 by
petercorke
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4 tasks done
fix: Twist3 * SpatialVector raised ValueError instead of dispatching
#210
opened Aug 20, 2026 by
petercorke
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5 tasks done
deprecate: UnitQuaternion.interp1's shortest parameter is a no-op
#209
opened Aug 20, 2026 by
petercorke
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3 tasks done
test: add regression coverage for trlog near-identity division
#208
opened Aug 20, 2026 by
petercorke
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3 tasks done
Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint (Ad^-T)
#207
opened Aug 20, 2026 by
youdie006
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fix: __version__ guard catches everything and leaves it unset on failure
#206
opened Aug 17, 2026 by
petercorke
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3 tasks done
fix: normalize ICP2d's returned transform to exact orthonormality
#204
opened Aug 16, 2026 by
petercorke
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3 tasks done
fix: support scalar/2-elem dim shorthand in tranimate/Animate
#202
opened Aug 10, 2026 by
petercorke
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2 tasks done
fix: SO3.RotatedVector returned identity for antipodal vectors
#201
opened Aug 9, 2026 by
petercorke
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6 tasks done
refactor: consistent printline() across pose and quaternion classes
#200
opened Jul 27, 2026 by
petercorke
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feat(pose,quaternion): add __imatmul__ (@=) operator
#199
opened Jul 27, 2026 by
petercorke
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perf: defer Matplotlib import until something actually plots
#198
opened Jul 27, 2026 by
petercorke
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test: force headless Matplotlib backend for local + CI test runs
#197
opened Jul 27, 2026 by
petercorke
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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1()
#193
opened Jul 26, 2026 by
gaoflow
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Allow higher order spline derivatives.
#176
opened Nov 20, 2025 by
myeatman-bdai
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What’s not been updated in a month: updated:<2026-07-27.