Transform(FrameSet) was never called in Python, because
Transform(Mapping) was listed first in the pybind11 wrapper,
and so was always called.
Fixing this turned up several bugs in normalizing frames:
- naive tests in PointEndpoint and SpherePointEndpoint
were fooled when a FrameSet was passed in as a Frame.
- SpherePointEndpoint needed a tweak so that permAxes
was called on the frame argument, rather than a copy
when the frame was a FrameSet.
I added tests for all this in tests/test_transform.py. I'm afraid that file is getting rather large, but I'm not sure what to do about it. Perhaps some refactoring could make it smaller.
I also replaced all usage of self.assertTrue(numpy.allclose(...)) with numpy.testing.assert_allclose(...) as a separate commit.