Merge branch 'master' into future

.github/workflows/test_future.yml

@@ -10,37 +10,37 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [windows-latest, ubuntu-latest, macos-latest]
-        python-version: [3.7, 3.8, 3.9, '3.10']
+        os: [windows-latest, ubuntu-latest, macos-12]
+        python-version: [3.8, 3.9, '3.10', '3.11', '3.12']
 
     steps:
     - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
 
     - name: Checkout future branch
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
       with:
         ref: future
         path: robotics-toolbox-python
 
     - name: Checkout Swift
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
       with:
         ref: future
         repository: jhavl/swift
         path: swift
 
     - name: Checkout Spatialmath
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
       with:
         ref: future
         repository: petercorke/spatialmath-python
         path: sm
 
     - name: Checkout Spatialgeometry
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
       with:
         ref: future
         repository: jhavl/spatialgeometry