Release notes

Major release that focuses mainly on redefining the linear part of AffineTransform.

• Removed RotationScaleMatrix and its interfaces, it is replaced by LinearTransform3D.
• New type of 3D matrix: LinearTransform3D. This new type is unconstrained similar to Matrix3D but can be decomposed at any time into U*W*V, where U and V are pure rotations and W a diagonal matrix.
• New algorithms for performing Singular Value Decomposition on a 3D matrix and Eigendecomposition for a symmetric 3D matrix.
• Relaxed some of the tools related to 3D orientations to only require a CommonMatrix3DBasics instead of a RotationMatrixBasics.
• Pushed methods up to CommonMatrix3DBasics from sub-types.
• Updated AffineTransform to use LinearTransform3D instead of RotationScaleMatrix. This allows to remove previous constraints of this transform.
• Extended API of FixedFrameTuple2DBasics and FixedFrameTuple3DBasics to add more methods with frameless arguments.
• New random generators for 3D matrices.
• Extended Matrix3DReadOnly API to include methods such as: test for symmetricity, min/max element value.
• New factory for creating a conjugated linked quaternion in EuclidCoreFactories.
• Expanded the operations possible between 3D orientations and 3D matrices.
• Added edge-case for QuaternionTools.distancePrecise.
• Switched to the new Eigendecomposition solver in AbstractFace3D used for convex polytopes.

Minor updates:

• Fixed some documentation.
• Replaced new usages of Math.sqrt() with EuclidCoreTools.squareRoot().
• Minor bugfix in IO tools, some methods were discarding the custom format.

Dependencies:

• Switched from using org.pitest to using ihmc-commons-testing for the test sourceset.
• Upgraded ihmc-build from 0.23.0 to 0.23.4.