c4dynamics 2.0.3__py3-none-any.whl

c4dynamics/utils/__init__.py

@@ -0,0 +1,44 @@
+# 
+# utils __init__
+##
+
+# from . import plottools 
+# from . import gen_gif
+
+import sys
+sys.path.append('.')
+vi = sys.version_info
+
+if vi.minor <= 7:
+    from c4dynamics.utils.images_loader import * 
+
+# from . import const
+# from . import math
+
+
+
+if __name__ == "__main__":
+
+  import doctest, contextlib, os
+  from c4dynamics import IgnoreOutputChecker, cprint
+  
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  tofile = False 
+  optionflags = doctest.FAIL_FAST
+
+  if tofile: 
+    with open(os.path.join('tests', '_out', 'output.txt'), 'w') as f:
+      with contextlib.redirect_stdout(f), contextlib.redirect_stderr(f):
+        result = doctest.testmod(optionflags = optionflags) 
+  else: 
+    result = doctest.testmod(optionflags = optionflags)
+
+  if result.failed == 0:
+    cprint(os.path.basename(__file__) + ": all tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+
+

c4dynamics/utils/_struct.py

@@ -0,0 +1,6 @@
+class struct: 
+  def __init__(self, **kwargs): 
+    self.__dict__.update(kwargs)
+
+  def __iter__(self):
+    return iter(self.__dict__.items())

c4dynamics/utils/const.py

@@ -0,0 +1,130 @@
+import numpy as np
+
+__doc__ = '''
+Globals and conversion constants. 
+
+
+C4dynamics includes several constants as global quantities 
+and conversion units:
+
+
+Global Constants
+----------------
+
+.. data:: pi 
+
+  The ratio of a circle's circumference to its diameter.
+  C4dynamics' pi is a simple assignment of numpy.pi: 
+
+  ``pi = 3.1415926535897932384626433...``
+
+  .. rubric:: Reference
+
+  https://en.wikipedia.org/wiki/Pi
+
+
+.. data:: g_ms2
+
+  Gravity of earth in meter per square second. 
+
+  ``g = 9.80665``
+
+  .. rubric:: Reference
+
+  https://en.wikipedia.org/wiki/Gravity_of_Earth
+
+
+.. data:: g_fts2
+
+  Gravity of earth in foot per square second. 
+
+  ``g = 32.1740``
+
+  .. rubric:: Reference
+
+  https://en.wikipedia.org/wiki/Gravity_of_Earth
+
+
+
+Conversion Constants
+--------------------
+
+.. data:: ft2m
+
+  foot to meter.
+
+  ``ft2m = 0.3048``
+
+
+.. data:: lbft2tokgm2
+
+  pound square foot to kilogram square meter.
+
+  ``lbft2tokgm2 = 4.88243``
+
+
+.. data:: r2d
+
+  radians to degrees.
+
+  ``r2d = 57.2958``
+
+
+.. data:: d2r
+
+  degrees to radians.
+
+  ``d2r = 0.0174533``
+
+.. data:: k2ms
+
+  knots to meters per second
+
+  ``k2ms = 0.514444``
+
+
+'''
+
+import sys 
+sys.path.append('.')
+
+
+#  global quantities 
+pi       = np.pi
+g_ms2    = 9.80665  # m/s^2 
+g_fts2   = 32.1740  # ft/s^2
+
+#  conversion variables 
+ft2m        = 0.3048        # 1             # 
+lbft2tokgm2 = 4.88243       # 47.8803 to include gravity        # 1      
+r2d         = 180 / np.pi 
+d2r         = np.pi / 180 
+kmh2ms      = 1000 / 3600 
+k2ms        = 1852 / 3600   # knots to meter per second
+
+
+
+if __name__ == "__main__":
+
+  import doctest, contextlib, os
+  from c4dynamics import IgnoreOutputChecker, cprint
+  
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  tofile = False 
+  optionflags = doctest.FAIL_FAST
+
+  if tofile: 
+    with open(os.path.join('tests', '_out', 'output.txt'), 'w') as f:
+      with contextlib.redirect_stdout(f), contextlib.redirect_stderr(f):
+        result = doctest.testmod(optionflags = optionflags) 
+  else: 
+    result = doctest.testmod(optionflags = optionflags)
+
+  if result.failed == 0:
+    cprint(os.path.basename(__file__) + ": all tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+

c4dynamics/utils/cprint.py

@@ -0,0 +1,80 @@
+import sys 
+sys.path.append('.')
+
+TXTCOLORS =     { 'k': '30', 'black':   '30'
+                , 'r': '31', 'red':     '31'
+                , 'g': '32', 'green':   '32'
+                , 'y': '33', 'yellow':  '33'
+                , 'b': '34', 'blue':    '34'
+                , 'm': '35', 'magenta': '35'
+                , 'c': '36', 'cyan':    '36'
+                , 'w': '37', 'white':   '37'
+                    }
+
+def cprint(txt = '', color = 'white', end = '\n'):
+  '''
+    Printing colored text in the console.
+
+    Parameters
+    ----------
+
+    txt : str
+        The text to be printed.
+    
+    color : str, optional
+        The color of the text. Default is 'white'.
+    
+    Example
+    -------
+
+    .. code:: 
+    
+      >>> carr = ['y', 'w', 'r', 'm', 'c', 'g', 'k', 'b']
+      >>> for c in carr:
+      ...   c4d.cprint('C4DYNAMICS', c)
+
+    .. raw:: html
+
+      <span style="color:yellow">C4DYNAMICS</span><br>
+      <span style="color:white">C4DYNAMICS</span><br>
+      <span style="color:red">C4DYNAMICS</span><br>
+      <span style="color:magenta">C4DYNAMICS</span><br>
+      <span style="color:cyan">C4DYNAMICS</span><br>
+      <span style="color:green">C4DYNAMICS</span><br>
+      <span style="color:black">C4DYNAMICS</span><br>
+      <span style="color:blue">C4DYNAMICS</span><br>
+ 
+  '''
+  settxt = '\033['
+
+
+  settxt += TXTCOLORS[color] 
+      
+  print(settxt + 'm' + str(txt) + '\033[0m', end = end)
+
+
+if __name__ == "__main__":
+
+  import os 
+  import doctest, contextlib
+  from c4dynamics import IgnoreOutputChecker, cprint
+  
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  tofile = False 
+  optionflags = doctest.FAIL_FAST
+
+  if tofile: 
+    with open(os.path.join('tests', '_out', 'output.txt'), 'w') as f:
+      with contextlib.redirect_stdout(f), contextlib.redirect_stderr(f):
+        result = doctest.testmod(optionflags = optionflags) 
+  else: 
+    result = doctest.testmod(optionflags = optionflags)
+
+  if result.failed == 0:
+    cprint("All tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+

c4dynamics/utils/gen_gif.py

@@ -0,0 +1,142 @@
+import os
+import imageio
+import natsort
+import warnings
+
+import sys 
+sys.path.append('.')
+import c4dynamics as c4d 
+
+
+def gif(dirname, gif_name, duration = None):
+  '''
+
+    Gif creator.
+
+    `gif` creates a Gif from a directory containing image files.
+
+    Parameters
+    ----------
+
+    dirname : str
+        The path to the directory containing image files.
+
+    gif_name : str
+        The desired name of the output GIF file.
+
+    duration : float, optional
+        The duration (in seconds) for each frame of the GIF. 
+        If None, default duration is used.
+
+        
+    Example
+    -------
+
+    1. Prepare trajectory to animate. 
+
+
+    Import required packages:
+
+    .. code::
+
+      >>> import c4dynamics as c4d 
+      >>> from IPython.display import Image
+      >>> import numpy as np 
+      >>> import os 
+
+      
+    Settings and initial conditions:
+
+    .. code::
+
+      >>> f16 = c4d.rigidbody()
+      >>> dt = 0.01
+
+    
+    Main loop:
+
+    .. code::
+
+      >>> for t in np.arange(0, 9, dt): 
+      ...  # in 3 seconds make 180 deg: 
+      ...  if t < 3: 
+      ...    f16.psi += dt * 180 * c4d.d2r / 3
+      ...  elif t < 6: 
+      ...    f16.theta += dt * 180 * c4d.d2r / 3
+      ...  else:
+      ...    f16.phi -= dt * 180 * c4d.d2r / 3 
+      ...  f16.store(t)
+
+      
+    2. Animate and save image files. 
+   
+    (Use c4dynamics' :mod:`datasets <c4dynamics.datasets>` to fetch F16 3D model.)
+
+    .. code::
+
+      >>> f16path = c4d.datasets.d3_model('f16') 
+      Fetched successfully
+      >>> x0 = [90 * c4d.d2r, 0, 180 * c4d.d2r] 
+      >>> outfol = os.path.join('tests', '_out', 'f16b')
+      >>> f16.animate(f16path, savedir = outfol, angle0 = x0, modelcolor = [0, 0, 0], cbackground = [230 / 255, 230 / 255, 255 / 255])
+      
+      
+    3. Export images as gif.
+
+    .. code::
+
+      >>> gifname = 'f16_monochrome_gif.gif'
+      >>> c4d.gif(outfol, gifname, duration = 1)
+      >>> Image(filename = os.path.join(outfol, gifname))  # doctest: +IGNORE_OUTPUT
+
+    .. figure:: /_examples/animate/f16_monochrome_gif.gif
+    
+  '''
+  dirfiles = natsort.natsorted(os.listdir(dirname)) 
+  imgfiles = [f for f in dirfiles if f.lower().endswith(('.png', '.jpg', '.jpeg', 'bmp', '.tiff'))] 
+
+  if not imgfiles: 
+    warnings.warn(f"""No image files in {dirfiles}. ('.png', '.jpg', '.jpeg', 'bmp', '.tiff', are supported). """ , c4d.c4warn)
+    return None
+
+  fps = 60 # 60hz (60frames per second) -> 16.6msec
+  if duration is None: 
+    interval = 1
+  else: 
+    # FIXME sth here is wrong. see the test test_specified_fps_effect currently disabled. 
+    interval = max(int(len(imgfiles) / (duration * fps)), 1)
+
+  images = []
+
+  for i in range(0, len(imgfiles), interval):
+    images.append(imageio.v2.imread(os.path.join(dirname, imgfiles[i])))
+
+  gif_name = gif_name if gif_name.endswith('.gif') else gif_name + '.gif'
+  imageio.mimsave(os.path.join(dirname, gif_name)
+                      , images, loop = 0, duration = int(1000 * 1 / fps))
+
+
+if __name__ == "__main__":
+
+  import doctest, contextlib
+  from c4dynamics import IgnoreOutputChecker, cprint
+  
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  tofile = False 
+  optionflags = doctest.FAIL_FAST
+
+  if tofile: 
+    with open(os.path.join('tests', '_out', 'output.txt'), 'w') as f:
+      with contextlib.redirect_stdout(f), contextlib.redirect_stderr(f):
+        result = doctest.testmod(optionflags = optionflags) 
+  else: 
+    result = doctest.testmod(optionflags = optionflags)
+
+  if result.failed == 0:
+    cprint(os.path.basename(__file__) + ": all tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+

c4dynamics/utils/idx2keys.py

@@ -0,0 +1,4 @@
+import numpy as np
+
+def idx2keys(xdict, idx):
+  return np.array(list(xdict.keys()))[idx]

c4dynamics/utils/images_loader.py

@@ -0,0 +1,63 @@
+# sngl3
+#   load single image as 3 layers rgb
+# snglv
+#   load single image as a row vector
+# mltpl3
+#   load multiple images as 3 layers rgb
+# mltplv
+#   load mulitple images as an array where each row is an image 
+
+import glob    
+import numpy as np
+from matplotlib import image
+
+def sngl3(file):
+    err1 = False
+    if file.lower().endswith(('.png', '.jpg', '.jpeg')):
+        img = image.imread(file)
+        if img is None:
+            err1 = True
+    else:
+        err1 = True
+        
+    if err1:
+        print(file + ' is not an image file')
+    else:
+        return img
+
+
+def snglv(file):
+    err1 = False
+    if file.lower().endswith(('.png', '.jpg', '.jpeg')):
+        img = image.imread(file)
+        if img is None:
+            err1 = True
+    else:
+        err1 = True
+        
+    if err1:
+        print(file + ' is not an image file')
+    else:
+        img = np.reshape(img, (1, -1)) # the unspecified value is inferred as .. 
+        return img
+
+
+def mltpl3(folder):
+    images = []
+    for f in glob.glob(folder):
+        if f.lower().endswith(('.png', '.jpg', '.jpeg')):
+            img = image.imread(f)
+            if img is not None:
+                images.append(img)
+    return images
+
+
+def mltplv(folder):
+    images = []
+    for f in glob.glob(folder):
+        if f.lower().endswith(('.png', '.jpg', '.jpeg')):
+            img = image.imread(f)
+            if img is not None:
+                img = np.reshape(img, (1, -1))
+                images.append(img)
+    return images

c4dynamics/utils/math.py

@@ -0,0 +1,136 @@
+import numpy as np
+from scipy.special import erfinv
+import sys 
+sys.path.append('.')
+import c4dynamics as c4d 
+
+__doc__ = ''' 
+Math functions aliasing.
+
+
+For convenience, C4dynamics aliases some of 
+NumPy's trigonometric functions 
+with slight variations in some of them:
+
+.. code::
+
+    import numpy as np
+    import c4dynamics as c4d
+
+    
+.. data:: sin 
+
+    ``c4d.sin = np.sin``
+
+.. data:: sind 
+
+    ``c4d.sind = lambda n: np.sin(n * c4d.d2r)``
+
+.. data:: cos
+
+    ``c4d.cos = np.cos``
+
+.. data:: cosd 
+
+    ``c4d.cosd = lambda n: np.cos(n * c4d.d2r)``
+
+.. data:: tan
+
+    ``c4d.tan = np.tan``
+
+.. data:: tand 
+
+    ``c4d.tand = lambda n: np.tan(n * c4d.d2r)``
+
+
+.. data:: asin
+
+    ``c4d.asin = np.arcsin``
+
+.. data:: asind 
+
+    ``c4d.asind = lambda n: np.arcsin(n) * c4d.r2d``
+
+.. data:: acos
+
+    ``c4d.acos = np.arccos``
+
+.. data:: acosd 
+
+    ``c4d.acosd = lambda n: np.arccos(n) * c4d.r2d``
+
+.. data:: atan
+
+    ``c4d.atan = np.arctan``
+
+.. data:: atan2
+
+    ``c4d.atan2 = np.arctan2``
+
+.. data:: atan2d
+
+    ``c4d.atan2d = lambda y, x: np.arctan2(y, x) * c4d.r2d``
+
+
+.. data:: sqrt
+
+    ``c4d.sqrt = np.sqrt``
+
+.. data:: norm
+
+    ``c4d.norm = np.linalg.norm``
+
+
+'''
+sin     = np.sin
+sind    = lambda n: np.sin(n * c4d.d2r)
+cos     = np.cos
+cosd    = lambda n: np.cos(n * c4d.d2r)
+tan     = np.tan
+tand    = lambda n: np.tan(n * c4d.d2r)
+
+asin    = np.arcsin
+asind   = lambda n: np.arcsin(n) * c4d.r2d
+acos    = np.arccos
+acosd   = lambda n: np.arccos(n) * c4d.r2d 
+atan    = np.arctan
+atand   = lambda n: np.arctan(n) * c4d.r2d 
+atan2   = np.arctan2 # atan2(y, x)
+atan2d  = lambda y, x: np.arctan2(y, x) * c4d.r2d # atan2(y, x)
+
+sqrt    = np.sqrt        
+norm    = np.linalg.norm
+
+ 
+# mrandn preserves matlab normal distributed numbers generation 
+# XXX it doesnt preserve anything. just a suggested implementation to make in both sides. 
+# no more it also doesnt generate normal distribution. see also the test test_mrandn currently disabled. 
+mrandn = lambda n = 1: np.sqrt(2) * erfinv(2 * np.random.rand(n) - 1)
+
+
+
+if __name__ == "__main__":
+
+  import doctest, contextlib, os
+  from c4dynamics import IgnoreOutputChecker, cprint
+  
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  tofile = False 
+  optionflags = doctest.FAIL_FAST
+
+  if tofile: 
+    with open(os.path.join('tests', '_out', 'output.txt'), 'w') as f:
+      with contextlib.redirect_stdout(f), contextlib.redirect_stderr(f):
+        result = doctest.testmod(optionflags = optionflags) 
+  else: 
+    result = doctest.testmod(optionflags = optionflags)
+
+  if result.failed == 0:
+    cprint(os.path.basename(__file__) + ": all tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+
+