Corps de Baleine à la Mode, 1778Courtesy of the Fashion Institute of Technology, New YorkUnderwear has come a long way since the days of linen drawers and crinolines, be it Ralph Fiennes slicing into Keira Knightley’s boned pannier and petticoat in The Duchess or Hailey Clauson poised as a sexed-up 1950’s housewife for the latest Agent Provocateur campaign. As personal as it is necessary, the art of undressing is key throughout history. To mark Colleen Hill’s latest book, Exposed: A History of Lingeri...