Jien Cao

Hi @ningmimg , thank you for bringing up this issue. Firstly, creating SE3 from numpy array should work (but see below): ``` >>> from spatialmath import SE3 >>> import numpy...

Closing the issue as we haven't got any response from the reporter.

@tdamsma @petercorke the second option seems more user-friendly, along that line, i can put together a quick PR which 1. exposes this `shortest` argument to `pose3d.interp(..., shortest=True)` through `base.transform3d.trinterp(..., shortest=True)`...

~a draft PR is created at https://github.com/bdaiinstitute/spatialmath-python/pull/123~ ~i will also add some unit tests accordingly.~ please review https://github.com/bdaiinstitute/spatialmath-python/pull/123 (tests have been added)

updates have been merged. thank you all for looking into this issue!