Use SE3s instead of SO3s

Author: btalb

.gitignore

@@ -1 +1,2 @@
 *.sw*
+__pycache__

src/spatialmath_ros.py

@@ -17,7 +17,7 @@ def pose_msg_to_se3(pose_msg):
                pose_msg.position.z) * UnitQuaternion(pose_msg.orientation.w, [
                    pose_msg.orientation.x, pose_msg.orientation.y,
                    pose_msg.orientation.z
-               ]).SO3()
+               ]).SE3()
 
 
 def se2_to_pose_msg(se2):
@@ -74,4 +74,4 @@ def tf_msg_to_se3(tf_msg):
     return SE3(tf_msg.translation.x, tf_msg.translation.y,
                tf_msg.translation.z) * UnitQuaternion(tf_msg.rotation.w, [
                    tf_msg.rotation.x, tf_msg.rotation.y, tf_msg.rotation.z
-               ]).SO3()
+               ]).SE3()