Construct dual quaternion multiply matrices
Fix aa_la_inv bindings
Dual quaternion twist/diff conversion
Assumed shape arrays for quaternion matrices
Bit arrays
Quaternion-translation velocity<->diff
Return bit vector size in octets
Lapack Cholesky
Axis-angle to quaternion with separate arguments for axis and angle
Optimize axis-angle to quaternion conversion
Quaternion-translation conjugate multiplies
Quaternion-translation Davenport, and random TFs
Read matrix into heap
Normalized quaternion multiplies
Better axang2quat
Allow NULL elts in heap matrix reader
Heapsort
Misc TFs
Relative translations from points by mean and median
Update INSTALL file with dependencies