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Use vectorized operations to compute transformations #266
Use vectorized Numpy operation to compute visualization frame
Individual element transforms that do not contain dynamic variables nor
This commit resolves issue #32
Use vectorized Numpy operation to compute visualization frame transformation matrices as this is much faster than using a for loop. Each element of the transformation matrix is lambdified and stored in a list of numerical transformations. Individual element transforms that do not contain dynamic variables nor constant variables are not returned as functions by lambdify and subsequent evaluation for these elements is skipped. Element transforms that contain constant variables but not dynamic variables are lambdified with only the constant variables as arguments. These are only evaluated once and then repeated for create of the visualization matrix trajectory. This commit resolves issue #32.