Replace np.float by float, since np.float is deprecated in numpy 1.20.

transforms3d/axangles.py

@@ -144,7 +144,7 @@ def mat2axangle(mat, unit_thresh=1e-5):
     -----
     http://en.wikipedia.org/wiki/Rotation_matrix#Axis_of_a_rotation
     """
-    M = np.asarray(mat, dtype=np.float)
+    M = np.asarray(mat, dtype=float)
     # direction: unit eigenvector of R33 corresponding to eigenvalue of 1
     L, W = np.linalg.eig(M.T)
     i = np.where(np.abs(L - 1.0) < unit_thresh)[0]
@@ -194,7 +194,7 @@ def aff2axangle(aff):
     -----
     http://en.wikipedia.org/wiki/Rotation_matrix#Axis_of_a_rotation
     """
-    R = np.asarray(aff, dtype=np.float)
+    R = np.asarray(aff, dtype=float)
     direction, angle = mat2axangle(R[:3, :3])
     # point: unit eigenvector of R33 corresponding to eigenvalue of 1
     L, Q = np.linalg.eig(R)

transforms3d/quaternions.py

@@ -23,8 +23,8 @@
 import math
 import numpy as np
 
-_MAX_FLOAT = np.maximum_sctype(np.float)
-_FLOAT_EPS = np.finfo(np.float).eps
+_MAX_FLOAT = np.maximum_sctype(float)
+_FLOAT_EPS = np.finfo(float).eps
 
 
 def fillpositive(xyz, w2_thresh=None):
@@ -38,7 +38,7 @@ def fillpositive(xyz, w2_thresh=None):
        threshold to determine if w squared is really negative.
        If None (default) then w2_thresh set equal to
        ``-np.finfo(xyz.dtype).eps``, if possible, otherwise
-       ``-np.finfo(np.float).eps``
+       ``-np.finfo(float).eps``
 
     Returns
     -------
@@ -304,9 +304,9 @@ def qinverse(q):
     return qconjugate(q) / qnorm(q)
 
 
-def qeye(dtype = np.float):
+def qeye(dtype=float):
     ''' Return identity quaternion '''
-    return np.array([1.0,0,0,0], dtype = dtype)
+    return np.array([1.0,0,0,0], dtype=dtype)
 
 
 def qexp(q):

transforms3d/reflections.py

@@ -43,7 +43,7 @@ def rfnorm2mat(normal):
 
     where $I$ is the identity matrix.
     """
-    normal = np.asarray(normal, dtype=np.float)
+    normal = np.asarray(normal, dtype=float)
     norm2 = (normal**2).sum()
     M = np.eye(3)
     return M - 2.0 * np.outer(normal, normal) / norm2

transforms3d/tests/test_taitbryan.py

@@ -12,7 +12,7 @@
 
 from transforms3d.tests.samples import euler_tuples
 
-FLOAT_EPS = np.finfo(np.float).eps
+FLOAT_EPS = np.finfo(float).eps
 
 
 def x_only(x):

transforms3d/zooms.py

@@ -133,7 +133,7 @@ def mat2zfdir(mat):
     >>> np.allclose(S0, S1)
     True
     """
-    mat = np.asarray(mat, dtype=np.float)
+    mat = np.asarray(mat, dtype=float)
     factor = np.trace(mat) - 2.0
     # direction: unit eigenvector corresponding to eigenvalue factor
     l, V = np.linalg.eig(mat)
@@ -179,7 +179,7 @@ def aff2zfdir(aff):
     True
     >>> S0 = zfdir2aff(factor, direct, origin)
     """
-    M = np.asarray(aff, dtype=np.float)
+    M = np.asarray(aff, dtype=float)
     factor, direction = mat2zfdir(M[:3,:3])
     # origin: any eigenvector corresponding to eigenvalue 1
     l, V = np.linalg.eig(M)