spatialmath-python

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When testing PR-123, we found that the setup-python@v2 had stopped working correctly for macos-latest configurations, as shown in https://github.com/bdaiinstitute/spatialmath-python/actions/runs/8958982641/job/24603844190?pr=123 It was further discovered that python3.7 is also no longer supported...

jcao-bdai

Implements changes from discussions under [Issue 122](https://github.com/bdaiinstitute/spatialmath-python/issues/122).

jcao-bdai

Discrepancies in SE3.interp with respect to initial rotations and comparison to SciPy's SLERP implementation

3

I found using the interp function of the spatialmath toolbox that the interpolation results depend on the initial rotation frames. On further investigation I also found difference between the SE3.interp...

tdamsma

Created internal quaternion conversion function for SO3

1

Created internal conversion function for `SO3` -> `UnitQuaternion` to mirror [`UnitQuaternion.SO3()`](https://github.com/bdaiinstitute/spatialmath-python/blob/470962c3a77fda1bfd0022fea92a9b4474b1de97/spatialmath/quaternion.py#L2276). Also added conversions to `test_pose3d.py`

bokorn-bdaii