- add operations for so2
- add operations for se3 and follow numpy sinc implementation for
calculating 1-cos x / x since top converges to zero faster
- add ukf-manifold algorithm
- add drawing for variance error ellipses
- add ukf-manifold estimator to constant curvature example

- add kalman
- add ekf
- add ukf
- add display for comparison on constant curvature model

- add generation of yaw based on information constraints
- add solving of convex program for yaw
- add cylinder scene objects
- add example showing generated yaw plan

- add probabilistic road map algorithm
- add point to line distance calculation
- add marker objects for overlaying path in scene
- add example to display prm
- add adapter for low level controllers to follow trajectories
- add processing to interpolate values on circular space
- add example for trajectory following

- add display for asteroid
- generate random convex asteroids by sampling normals
- add functions to fix surface triangulations
- add figure setting for space background

- fix shuttle model to recalculate inertia matrix after centering
- refactor 3d plotting functions
- add functions for using quaternions
- add quaternion based model for integrating thrusts
- add exponential map based model for integrating thrusts
- refactor state space models for approximately maintaining constraints
- add euler step function
- add animation function for 3d

- add example of visualizing shuttle model
- add finding for inertia matrix and other mass properties
- add function to draw surface normals
- add function to draw thrusters
- refactor vis naming

- fix numerical issue for water image view
- fix wrong value for camera center

- add cbf controller for relative degree 2 control
- add display for cbf controller

- refactor state space models to return function info as dictionaries
- move riccati solver to misc
- add derivative calculation to empirical drag model
- add min norm controller for relative degree 1 control (accel -> v)
- add min norm controller for relative degree 2 control (accel -> pos)
- add documentation for the min norm controllers

- change ode solver to accept sim model for mismatch between control model and sim model
- add top level readme

- add display for sdre controller
- add continuous time stepping via solving the ivp at each step
- make cts state space models now return instantaneous change in state

- add display for projection error cost surface
- add estimation via direct linear transform with good results

- add interpolation for creating n dimensional trajectories
- fix bug in camera projection not accounting for translation

- add scene elements for visualization
- add example that displays top down and projection to camera image

- add pid controller
- add pid controller for rotate then move
- add example using pid to reach waypoint