v1.1.0 released

[petercorke]

This is mostly bug fixes and feature enhancements, with API changes in bold below

• Python type hinting
• code formatting with black
• improved unit test coverage, at 70% now
• modern build system, now using build and pyproject.toml
• geom2d and geom3d have been fleshed out, Ellipse class is still a work in progress
• doco improvements including adding a plot gallery
• bug fix in r2q for certain corner cases, rotation matrix to quaternion
• trlog fix issues when close to identity matrix
• added angular statistics: angle_mean, angle_std
• added more angle wrapping functions for various intervals: wrap_0_pi, wrap_mpi2_pi2, wrap_0_2pi, wrap_mpi_pi, angle_wrap
• updates to ICP2d and points2tr
• changes to unitvec and unitvec_norm, now raise exception instead of None for the case of zero norm argument
• rodrigues moved from transformsNd to transforms3d
• Line3 now checks that the 6D vector is a valid Plucker coordinate, the check can be disabled