tranimate with sequences of SE3

[mfkenson]

Refer to issue https://github.com/petercorke/spatialmath-python/issues/4

use case 1: quaterion interpolation

import matplotlib
matplotlib.use('TkAgg')
from spatialmath import *
from spatialmath.base import *
from roboticstoolbox.tools.trajectory import lspb, tpoly, ctraj, jtraj
import math

r1 = SE3.Rx(math.pi/2)
r2 = SE3.Rz(-math.pi/2)
q1 = UnitQuaternion(r1)
q2 = UnitQuaternion(r2)
traj = []
steps = 50
for i in range(0, steps):
    traj.append(q1.interp(1.0*i/steps, q2).SE3().A)
tranimate(traj, dims = [-1,1], repeat=True)

use case 2:

import matplotlib
matplotlib.use('TkAgg')
from spatialmath import *
from spatialmath.base import *
from roboticstoolbox.tools.trajectory import lspb, tpoly, ctraj, jtraj

T0 = SE3(0, 0, 0)
T3 = SE3(3, 3, 3)

traj = []
steps = 50
for i in range(steps):
    traj.append(ctraj(T0, T3, 1.0*i/steps).A)

tranimate(traj, dims = [0,5], repeat=True)

[codecov-io]

Codecov Report

Merging #8 (a0b8c2d) into master (4f29a45) will decrease coverage by 0.10%.
The diff coverage is 50.00%.

@@            Coverage Diff             @@
##           master       #8      +/-   ##
==========================================
- Coverage   76.46%   76.35%   -0.11%     
==========================================
  Files          18       18              
  Lines        3174     3185      +11     
==========================================
+ Hits         2427     2432       +5     
- Misses        747      753       +6     

Impacted Files	Coverage Δ
spatialmath/base/animate.py	55.13% <50.00%> (-0.38%)	⬇️

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