InterpolatePy 2.0.0__tar.gz → 2.0.1__tar.gz

interpolatepy-2.0.1/.github/FUNDING.yml

@@ -0,0 +1,15 @@
+# These are supported funding model platforms
+
+github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+patreon: # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: giorgio23
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: # Replace with a single Liberapay username
+issuehunt: # Replace with a single IssueHunt username
+lfx_crowdfunding: # Replace with a single LFX Crowdfunding project-name e.g., cloud-foundry
+polar: # Replace with a single Polar username
+buy_me_a_coffee: # Replace with a single Buy Me a Coffee username
+thanks_dev: # Replace with a single thanks.dev username
+custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/.github/workflows/docs.yml

@@ -36,7 +36,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.11'
+        python-version: '3.12'
         cache: 'pip'
     
     - name: Install dependencies

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/.github/workflows/pre-commit.yml

@@ -13,5 +13,5 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.10'
+        python-version: '3.11'
     - uses: pre-commit/action@v3.0.1

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/.github/workflows/publish.yml

@@ -12,7 +12,7 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.10'
+        python-version: '3.12'
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/.github/workflows/test.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.10', '3.11', '3.12']
+        python-version: ['3.11', '3.12', '3.13']
     steps:
       - uses: actions/checkout@v4
       - name: Set up Python ${{ matrix.python-version }}
@@ -39,7 +39,7 @@ jobs:
     runs-on: macos-latest
     strategy:
       matrix:
-        python-version: ['3.10', '3.11', '3.12']
+        python-version: ['3.11', '3.12', '3.13']
     steps:
       - uses: actions/checkout@v4
       - name: Set up Python ${{ matrix.python-version }}

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/.pre-commit-config.yaml

@@ -2,7 +2,7 @@ default_language_version:
   python: python3
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-ast
       - id: check-builtin-literals
@@ -12,7 +12,7 @@ repos:
       - id: check-toml
 
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: 'v0.12.7'
+    rev: 'v0.12.8'
     hooks:
     -   id: ruff
         types_or: [python, pyi, jupyter]

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/ALGORITHMS.md

@@ -690,7 +690,7 @@ from interpolatepy import PolynomialTrajectory, BoundaryCondition, TimeInterval
 # Define boundary conditions
 initial = BoundaryCondition(position=0, velocity=0, acceleration=0)
 final = BoundaryCondition(position=1, velocity=0, acceleration=0)
-interval = TimeInterval(t0=0, t1=2)
+interval = TimeInterval(start=0, end=2)
 
 # Generate quintic trajectory
 traj_func = PolynomialTrajectory.order_5_trajectory(initial, final, interval)
@@ -910,9 +910,9 @@ import numpy as np
 times = [0, 1, 2, 3]
 quats = [
     Quaternion.identity(),
-    Quaternion.from_angle_axis(np.pi/2, [1, 0, 0]),  # 90° about X
-    Quaternion.from_angle_axis(np.pi, [0, 1, 0]),    # 180° about Y  
-    Quaternion.from_angle_axis(np.pi/4, [0, 0, 1])   # 45° about Z
+    Quaternion.from_angle_axis(np.pi/2, np.array([1, 0, 0])),  # 90° about X
+    Quaternion.from_angle_axis(np.pi, np.array([0, 1, 0])),    # 180° about Y  
+    Quaternion.from_angle_axis(np.pi/4, np.array([0, 0, 1]))   # 45° about Z
 ]
 
 # Create C² continuous interpolator

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/InterpolatePy.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: InterpolatePy
-Version: 2.0.0
+Version: 2.0.1
 Summary: A comprehensive Python library for generating smooth trajectories and curves with precise control over position, velocity, acceleration, and jerk profiles
 Author-email: Giorgio Medico <giorgio.medico11@gmail.com>
 Maintainer-email: Giorgio Medico <giorgio.medico11@gmail.com>
@@ -20,6 +20,7 @@ Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Operating System :: POSIX :: Linux
 Classifier: Operating System :: POSIX
 Classifier: Operating System :: Unix
@@ -30,23 +31,23 @@ Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Scientific/Engineering :: Visualization
 Classifier: Topic :: Software Development :: Libraries
 Classifier: Topic :: Software Development :: Libraries :: Python Modules
-Requires-Python: >=3.10
+Requires-Python: >=3.11
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: numpy>=2.0.0
-Requires-Dist: matplotlib>=3.10.1
-Requires-Dist: scipy>=1.15.2
+Requires-Dist: numpy>=2.3.0
+Requires-Dist: matplotlib>=3.10.5
+Requires-Dist: scipy>=1.16.0
 Provides-Extra: test
-Requires-Dist: pytest>=7.3.1; extra == "test"
+Requires-Dist: pytest>=8.4.0; extra == "test"
 Requires-Dist: pytest-cov>=4.1.0; extra == "test"
 Requires-Dist: codecov>=2.1.13; extra == "test"
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "test"
-Requires-Dist: pre-commit>=4.1.0; extra == "test"
+Requires-Dist: pre-commit>=4.2.0; extra == "test"
 Provides-Extra: dev
-Requires-Dist: ruff>=0.1.5; extra == "dev"
-Requires-Dist: mypy>=1.6.1; extra == "dev"
-Requires-Dist: pre-commit>=4.1.0; extra == "dev"
-Requires-Dist: pyright>=1.1.335; extra == "dev"
+Requires-Dist: ruff>=0.12.8; extra == "dev"
+Requires-Dist: mypy>=1.17.0; extra == "dev"
+Requires-Dist: pre-commit>=4.2.0; extra == "dev"
+Requires-Dist: pyright>=1.1.400; extra == "dev"
 Requires-Dist: build>=1.0.3; extra == "dev"
 Requires-Dist: twine>=4.0.2; extra == "dev"
 Provides-Extra: all
@@ -116,7 +117,22 @@ bounds = TrajectoryBounds(v_bound=5.0, a_bound=10.0, j_bound=30.0)
 trajectory = DoubleSTrajectory(state, bounds)
 
 print(f"Duration: {trajectory.get_duration():.2f}s")
-trajectory.plot()
+
+# Manual plotting (DoubleSTrajectory doesn't have built-in plot method)
+t_eval = np.linspace(0, trajectory.get_duration(), 100)
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+plt.figure(figsize=(10, 6))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('S-Curve Trajectory')
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
 
 plt.show()
 ```
@@ -183,13 +199,14 @@ orientations = [
 times = [0.0, 2.0, 5.0]
 
 # Smooth quaternion trajectory with C² continuity
-quat_spline = QuaternionSpline(times, orientations, method="squad")
+quat_spline = QuaternionSpline(times, orientations, interpolation_method="squad")
 
 # Evaluate at any time
-orientation = quat_spline.evaluate(3.5)
-angular_velocity = quat_spline.evaluate_angular_velocity(3.5)
+orientation, segment = quat_spline.interpolate_at_time(3.5)
+# For angular velocity, use interpolate_with_velocity
+orientation_with_vel, angular_velocity, segment = quat_spline.interpolate_with_velocity(3.5)
 
-quat_spline.plot()
+# QuaternionSpline doesn't have built-in plotting - manual visualization needed
 plt.show()
 ```
 </details>
@@ -200,14 +217,15 @@ plt.show()
 ```python
 import numpy as np
 import matplotlib.pyplot as plt
-from interpolatepy import SmoothingCubicBSpline
+from interpolatepy import CubicSmoothingSpline
 
 # Fit smooth curve to noisy data
 t = np.linspace(0, 10, 50)
 q = np.sin(t) + 0.1 * np.random.randn(50)
 
-bspline = SmoothingCubicBSpline(t, q, smoothing=0.01)
-bspline.plot()
+# Use CubicSmoothingSpline with correct parameter name 'mu'
+spline = CubicSmoothingSpline(t, q, mu=0.01)
+spline.plot()
 plt.show()
 ```
 </details>
@@ -229,10 +247,22 @@ print(f"Duration: {trajectory.get_duration():.2f}s")
 
 # Evaluate trajectory
 t_eval = np.linspace(0, trajectory.get_duration(), 1000)
-positions = [trajectory.evaluate(t) for t in t_eval]
-velocities = [trajectory.evaluate_velocity(t) for t in t_eval]
-
-trajectory.plot()
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+# Manual plotting
+plt.figure(figsize=(12, 8))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('Industrial S-Curve Motion Profile')
+plt.grid(True)
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
+plt.grid(True)
 plt.show()
 ```
 </details>

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/InterpolatePy.egg-info/SOURCES.txt

@@ -10,6 +10,7 @@ mkdocs.yml
 pyproject.toml
 requirements-dev.txt
 requirements.txt
+.github/FUNDING.yml
 .github/workflows/docs.yml
 .github/workflows/pre-commit.yml
 .github/workflows/publish.yml

interpolatepy-2.0.1/InterpolatePy.egg-info/requires.txt

@@ -0,0 +1,21 @@
+numpy>=2.3.0
+matplotlib>=3.10.5
+scipy>=1.16.0
+
+[all]
+interpolatepy[dev,test]
+
+[dev]
+ruff>=0.12.8
+mypy>=1.17.0
+pre-commit>=4.2.0
+pyright>=1.1.400
+build>=1.0.3
+twine>=4.0.2
+
+[test]
+pytest>=8.4.0
+pytest-cov>=4.1.0
+codecov>=2.1.13
+pytest-benchmark>=4.0.0
+pre-commit>=4.2.0

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: InterpolatePy
-Version: 2.0.0
+Version: 2.0.1
 Summary: A comprehensive Python library for generating smooth trajectories and curves with precise control over position, velocity, acceleration, and jerk profiles
 Author-email: Giorgio Medico <giorgio.medico11@gmail.com>
 Maintainer-email: Giorgio Medico <giorgio.medico11@gmail.com>
@@ -20,6 +20,7 @@ Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Operating System :: POSIX :: Linux
 Classifier: Operating System :: POSIX
 Classifier: Operating System :: Unix
@@ -30,23 +31,23 @@ Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Scientific/Engineering :: Visualization
 Classifier: Topic :: Software Development :: Libraries
 Classifier: Topic :: Software Development :: Libraries :: Python Modules
-Requires-Python: >=3.10
+Requires-Python: >=3.11
 Description-Content-Type: text/markdown
 License-File: LICENSE
-Requires-Dist: numpy>=2.0.0
-Requires-Dist: matplotlib>=3.10.1
-Requires-Dist: scipy>=1.15.2
+Requires-Dist: numpy>=2.3.0
+Requires-Dist: matplotlib>=3.10.5
+Requires-Dist: scipy>=1.16.0
 Provides-Extra: test
-Requires-Dist: pytest>=7.3.1; extra == "test"
+Requires-Dist: pytest>=8.4.0; extra == "test"
 Requires-Dist: pytest-cov>=4.1.0; extra == "test"
 Requires-Dist: codecov>=2.1.13; extra == "test"
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "test"
-Requires-Dist: pre-commit>=4.1.0; extra == "test"
+Requires-Dist: pre-commit>=4.2.0; extra == "test"
 Provides-Extra: dev
-Requires-Dist: ruff>=0.1.5; extra == "dev"
-Requires-Dist: mypy>=1.6.1; extra == "dev"
-Requires-Dist: pre-commit>=4.1.0; extra == "dev"
-Requires-Dist: pyright>=1.1.335; extra == "dev"
+Requires-Dist: ruff>=0.12.8; extra == "dev"
+Requires-Dist: mypy>=1.17.0; extra == "dev"
+Requires-Dist: pre-commit>=4.2.0; extra == "dev"
+Requires-Dist: pyright>=1.1.400; extra == "dev"
 Requires-Dist: build>=1.0.3; extra == "dev"
 Requires-Dist: twine>=4.0.2; extra == "dev"
 Provides-Extra: all
@@ -116,7 +117,22 @@ bounds = TrajectoryBounds(v_bound=5.0, a_bound=10.0, j_bound=30.0)
 trajectory = DoubleSTrajectory(state, bounds)
 
 print(f"Duration: {trajectory.get_duration():.2f}s")
-trajectory.plot()
+
+# Manual plotting (DoubleSTrajectory doesn't have built-in plot method)
+t_eval = np.linspace(0, trajectory.get_duration(), 100)
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+plt.figure(figsize=(10, 6))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('S-Curve Trajectory')
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
 
 plt.show()
 ```
@@ -183,13 +199,14 @@ orientations = [
 times = [0.0, 2.0, 5.0]
 
 # Smooth quaternion trajectory with C² continuity
-quat_spline = QuaternionSpline(times, orientations, method="squad")
+quat_spline = QuaternionSpline(times, orientations, interpolation_method="squad")
 
 # Evaluate at any time
-orientation = quat_spline.evaluate(3.5)
-angular_velocity = quat_spline.evaluate_angular_velocity(3.5)
+orientation, segment = quat_spline.interpolate_at_time(3.5)
+# For angular velocity, use interpolate_with_velocity
+orientation_with_vel, angular_velocity, segment = quat_spline.interpolate_with_velocity(3.5)
 
-quat_spline.plot()
+# QuaternionSpline doesn't have built-in plotting - manual visualization needed
 plt.show()
 ```
 </details>
@@ -200,14 +217,15 @@ plt.show()
 ```python
 import numpy as np
 import matplotlib.pyplot as plt
-from interpolatepy import SmoothingCubicBSpline
+from interpolatepy import CubicSmoothingSpline
 
 # Fit smooth curve to noisy data
 t = np.linspace(0, 10, 50)
 q = np.sin(t) + 0.1 * np.random.randn(50)
 
-bspline = SmoothingCubicBSpline(t, q, smoothing=0.01)
-bspline.plot()
+# Use CubicSmoothingSpline with correct parameter name 'mu'
+spline = CubicSmoothingSpline(t, q, mu=0.01)
+spline.plot()
 plt.show()
 ```
 </details>
@@ -229,10 +247,22 @@ print(f"Duration: {trajectory.get_duration():.2f}s")
 
 # Evaluate trajectory
 t_eval = np.linspace(0, trajectory.get_duration(), 1000)
-positions = [trajectory.evaluate(t) for t in t_eval]
-velocities = [trajectory.evaluate_velocity(t) for t in t_eval]
-
-trajectory.plot()
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+# Manual plotting
+plt.figure(figsize=(12, 8))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('Industrial S-Curve Motion Profile')
+plt.grid(True)
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
+plt.grid(True)
 plt.show()
 ```
 </details>

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/README.md

@@ -61,7 +61,22 @@ bounds = TrajectoryBounds(v_bound=5.0, a_bound=10.0, j_bound=30.0)
 trajectory = DoubleSTrajectory(state, bounds)
 
 print(f"Duration: {trajectory.get_duration():.2f}s")
-trajectory.plot()
+
+# Manual plotting (DoubleSTrajectory doesn't have built-in plot method)
+t_eval = np.linspace(0, trajectory.get_duration(), 100)
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+plt.figure(figsize=(10, 6))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('S-Curve Trajectory')
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
 
 plt.show()
 ```
@@ -128,13 +143,14 @@ orientations = [
 times = [0.0, 2.0, 5.0]
 
 # Smooth quaternion trajectory with C² continuity
-quat_spline = QuaternionSpline(times, orientations, method="squad")
+quat_spline = QuaternionSpline(times, orientations, interpolation_method="squad")
 
 # Evaluate at any time
-orientation = quat_spline.evaluate(3.5)
-angular_velocity = quat_spline.evaluate_angular_velocity(3.5)
+orientation, segment = quat_spline.interpolate_at_time(3.5)
+# For angular velocity, use interpolate_with_velocity
+orientation_with_vel, angular_velocity, segment = quat_spline.interpolate_with_velocity(3.5)
 
-quat_spline.plot()
+# QuaternionSpline doesn't have built-in plotting - manual visualization needed
 plt.show()
 ```
 </details>
@@ -145,14 +161,15 @@ plt.show()
 ```python
 import numpy as np
 import matplotlib.pyplot as plt
-from interpolatepy import SmoothingCubicBSpline
+from interpolatepy import CubicSmoothingSpline
 
 # Fit smooth curve to noisy data
 t = np.linspace(0, 10, 50)
 q = np.sin(t) + 0.1 * np.random.randn(50)
 
-bspline = SmoothingCubicBSpline(t, q, smoothing=0.01)
-bspline.plot()
+# Use CubicSmoothingSpline with correct parameter name 'mu'
+spline = CubicSmoothingSpline(t, q, mu=0.01)
+spline.plot()
 plt.show()
 ```
 </details>
@@ -174,10 +191,22 @@ print(f"Duration: {trajectory.get_duration():.2f}s")
 
 # Evaluate trajectory
 t_eval = np.linspace(0, trajectory.get_duration(), 1000)
-positions = [trajectory.evaluate(t) for t in t_eval]
-velocities = [trajectory.evaluate_velocity(t) for t in t_eval]
-
-trajectory.plot()
+results = [trajectory.evaluate(t) for t in t_eval]
+positions = [r[0] for r in results]
+velocities = [r[1] for r in results]
+
+# Manual plotting
+plt.figure(figsize=(12, 8))
+plt.subplot(2, 1, 1)
+plt.plot(t_eval, positions)
+plt.ylabel('Position')
+plt.title('Industrial S-Curve Motion Profile')
+plt.grid(True)
+plt.subplot(2, 1, 2)
+plt.plot(t_eval, velocities)
+plt.ylabel('Velocity')
+plt.xlabel('Time')
+plt.grid(True)
 plt.show()
 ```
 </details>

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/docs/algorithms.md

@@ -349,10 +349,11 @@ The algorithm solves for total time considering all constraints and boundary con
     
     # Evaluate at midpoint
     t_mid = trajectory.get_duration() / 2
-    pos = trajectory.evaluate(t_mid)
-    vel = trajectory.evaluate_velocity(t_mid) 
-    acc = trajectory.evaluate_acceleration(t_mid)
-    jerk = trajectory.evaluate_jerk(t_mid)
+    result = trajectory.evaluate(t_mid)
+    pos = result[0]
+    vel = result[1]
+    acc = result[2]
+    jerk = result[3]
     ```
 
 ### Trapezoidal Trajectory

{interpolatepy-2.0.0 → interpolatepy-2.0.1}/docs/api-reference.md

@@ -135,7 +135,7 @@ bspline = BSplineInterpolator(
 # Evaluate curve
 t = 2.5
 position = bspline.evaluate(t)
-velocity = bspline.evaluate_velocity(t)
+velocity = bspline.evaluate_derivative(t, order=1)
 ```
 
 #### ApproximationBSpline {#approximation-b-spline}
@@ -193,10 +193,11 @@ trajectory = DoubleSTrajectory(state, bounds)
 
 # Evaluate trajectory
 t = trajectory.get_duration() / 2
-position = trajectory.evaluate(t)
-velocity = trajectory.evaluate_velocity(t)
-acceleration = trajectory.evaluate_acceleration(t)
-jerk = trajectory.evaluate_jerk(t)
+result = trajectory.evaluate(t)
+position = result[0]
+velocity = result[1]
+acceleration = result[2]
+jerk = result[3]
 
 print(f"Duration: {trajectory.get_duration():.2f}s")
 ```
@@ -215,7 +216,8 @@ print(f"Duration: {trajectory.get_duration():.2f}s")
 
 **Example:**
 ```python
-from interpolatepy import TrapezoidalTrajectory, TrajectoryParams
+from interpolatepy import TrapezoidalTrajectory
+from interpolatepy.trapezoidal import TrajectoryParams
 
 # Define trajectory parameters
 params = TrajectoryParams(
@@ -273,7 +275,7 @@ final = BoundaryCondition(
     jerk=0.0
 )
 
-interval = TimeInterval(t0=0.0, t1=2.0)
+interval = TimeInterval(start=0.0, end=2.0)
 
 # Generate 7th-order polynomial
 traj_func = PolynomialTrajectory.order_7_trajectory(initial, final, interval)
@@ -319,7 +321,7 @@ import numpy as np
 
 # Create quaternions
 q1 = Quaternion.identity()
-q2 = Quaternion.from_angle_axis(np.pi/2, [0, 0, 1])  # 90° about Z
+q2 = Quaternion.from_angle_axis(np.pi/2, np.array([0, 0, 1]))  # 90° about Z
 
 # SLERP interpolation
 t = 0.5
@@ -350,9 +352,9 @@ import numpy as np
 times = [0, 1, 2, 3]
 orientations = [
     Quaternion.identity(),
-    Quaternion.from_angle_axis(np.pi/2, [1, 0, 0]),
-    Quaternion.from_angle_axis(np.pi, [0, 1, 0]),
-    Quaternion.from_angle_axis(np.pi/4, [0, 0, 1])
+    Quaternion.from_angle_axis(np.pi/2, np.array([1, 0, 0])),
+    Quaternion.from_angle_axis(np.pi, np.array([0, 1, 0])),
+    Quaternion.from_angle_axis(np.pi/4, np.array([0, 0, 1]))
 ]
 
 # Create C² continuous quaternion spline
@@ -401,7 +403,7 @@ velocity = path.velocity(s)      # Unit tangent vector
 acceleration = path.acceleration(s)  # Zero for straight line
 
 # Evaluate multiple points
-s_values = np.linspace(0, path.total_length, 50)
+s_values = np.linspace(0, path.length, 50)
 trajectory = path.evaluate_at(s_values)
 ```