Fix Point3d.transform_with

[pascalzauberzeug]

Both the dot product and the translation vector in Point3d.transform_with are 2D but need to be 1D for Point3d.from_tuple, which causes the coordinates to be np.arrays and not floats.

rosys/rosys/geometry/point3d.py

Line 62 in e3ef8cf

return Point3d.from_tuple(np.dot(pose.rotation.R, self.array) + pose.translation_vector)

import numpy as np
from rosys.geometry import Point3d, Pose3d, Rotation

point = Point3d(x=0.015, y=0.135, z=0.357)
pose = Pose3d(x=0.2965439264325891, y=-0.004233199581623145, z=0.3609662018089546,
              rotation=Rotation.from_euler(-138.1, -1.3, 89.9))

# works
new_point = Point3d.from_tuple((np.dot(pose.rotation.R, point.array) + pose.translation_vector).flatten())
print(new_point)
# Point3d(0.341, -0.366, 0.475)

# does not work
new_point = Point3d.from_tuple((np.dot(pose.rotation.R, point.array) + pose.translation_vector))
print(new_point)
# TypeError: unsupported format string passed to numpy.ndarray.__format__

[codingpaula]

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