Heavier refactoring #37
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Please do not force push this PR until I open another PR for
JuliaRobotics/RoME.jlthat adds compatibility with this branch.So I continued making changes to the source code. I added
JuliaGeometry/GeometryBasicsfor the 2D/3D vectors and points, instead of the custom types previously defined and exported.I removed a lot of legacy code, that was here for compatibility purposes, which I understand, but is really worth removing.
At some point, we will need to delete
Project.tomlandManifest.tomland regenerate them with Julia 1.12 or never. But I plan to removeRotationsandLoopVectorizationdependencies before that.All tests pass, but a lot of them are not very relevant, I'll have to work on that as well.
I am still not very familiar with the Lie algebra computations and the
ArrayPartitiontype.Finally I did some diagrams with Mathcha.io with is very convenient for this kind of visualization. The
README.mdfile hasn't been updated for 2 years, a lot of things in it are no longer relevant (broken links, etc...).Thank you very much,
I know this PR might be difficult to review