c4dynamics 2.0.3__tar.gz → 2.2.0__tar.gz

c4dynamics-2.2.0/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 c4dynamics
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

c4dynamics-2.2.0/PKG-INFO

@@ -0,0 +1,169 @@
+Metadata-Version: 2.4
+Name: c4dynamics
+Version: 2.2.0
+Summary: Python framework for state-space modeling and algorithm development
+Author: c4dynamics
+Author-email: Ziv Meri <zivmeri@gmail.com>
+License: MIT
+Requires-Python: >=3.8,<=3.12
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: imageio>=2.37.0
+Requires-Dist: matplotlib>=3.10.3
+Requires-Dist: natsort>=8.4.0
+Requires-Dist: numpy>=2.3.1
+Requires-Dist: opencv-python>=4.11.0.86
+Requires-Dist: pooch>=1.8.2
+Requires-Dist: scipy>=1.16.0
+Provides-Extra: dev
+Requires-Dist: nbsphinx>=0.9.7; extra == "dev"
+Requires-Dist: Sphinx>=8.1.3; extra == "dev"
+Requires-Dist: sphinx-book-theme>=1.1.4; extra == "dev"
+Requires-Dist: sphinx_design>=0.6.1; extra == "dev"
+Dynamic: author
+Dynamic: license-file
+Dynamic: requires-python
+
+<div align="center">
+  <img src="https://github.com/C4dynamics/C4dynamics/blob/main/docs/source/_icon/c4dlogotext.svg">
+</div>
+
+
+
+# Tsipor Dynamics
+
+## Algorithms Engineering and Development
+
+
+
+Tsipor (bird) Dynamics (c4dynamics) is the Python framework for state-space modeling and algorithm development.
+
+
+
+
+
+![Static Badge](https://img.shields.io/badge/python-%20?style=for-the-badge&logo=python&color=white)
+![PyPI - Version](https://img.shields.io/pypi/v/c4dynamics?style=for-the-badge&color=orange&link=https%3A%2F%2Fpypi.org%2Fproject%2Fc4dynamics%2F)
+![GitHub deployments](https://img.shields.io/github/deployments/C4dynamics/C4dynamics/github-pages%20?style=for-the-badge&label=docs)
+![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/c4dynamics/c4dynamics/run-tests.yml?style=for-the-badge&label=tests&link=https%3A%2F%2Fgithub.com%2FC4dynamics%2FC4dynamics%2Fblob%2Fmain%2F.github%2Fworkflows%2Frun-tests.yml)
+![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/C4dynamics/C4dynamics/paper.yml?style=for-the-badge&label=Paper)
+![Pepy Total Downloads](https://img.shields.io/pepy/dt/c4dynamics?style=for-the-badge&color=blue%20&link=https%3A%2F%2Fpepy.tech%2Fprojects%2Fc4dynamics%3FtimeRange%3DthreeMonths%26category%3Dversion%26includeCIDownloads%3Dtrue%26granularity%3Ddaily%26viewType%3Dline%26versions%3D2.0.3%252C2.0.1%252C2.0.0)
+
+
+
+
+[Documentation](https://c4dynamics.github.io/C4dynamics/)
+
+
+## Why c4dynamics?
+
+✅ State objects for easy modeling
+
+✅ Built-in functions for Kalman filters
+
+✅ Integrated sensors and object detection models
+
+✅ Out-of-the-box environments for reinforcement learning 
+
+✅ Seamless integration with OpenCV & Open3D 
+
+✅ Optimization for Monte Carlo simulations
+
+
+
+
+**c4dynamics** is designed to 
+simplify the development of algorithms for dynamic systems, 
+using state space representations. 
+It offers engineers and researchers a systematic approach to model, 
+simulate, and control systems in fields like 
+``robotics, aerospace,`` and ``navigation``.
+
+The framework introduces ``state objects,`` which are foundational 
+data structures that encapsulate state vectors and provide 
+the tools for managing data, simulating system behavior, 
+and analyzing results. 
+
+With integrated modules for sensors, 
+detectors, and filters, 
+c4dynamics accelerates algorithm development 
+while maintaining flexibility and scalability.
+
+
+
+## Requirements 
+- 3.8 <= Python <= 3.12
+- Required packages are listed in [requirements.txt](requirements.txt)
+
+
+
+## Installation 
+
+For detailed instructions on installing c4dynamics, including setup for virtual environments, Python version requirements, and troubleshooting, refer to the [c4dynamics setup guide](c4dynamics_setup.ipynb).
+
+* [PIP](https://pypi.org/project/c4dynamics/)
+
+```
+>>> pip install c4dynamics
+```
+
+
+
+* [GitHub](https://github.com/C4dynamics/C4dynamics)  
+
+To run the latest GitHub version, download the repo and install required packages:
+
+```
+>>> pip install -r requirements.txt
+```
+
+ 
+ 
+ 
+
+## Quickstart
+
+Import c4dynamics:
+```
+>>> import c4dynamics as c4d
+```
+
+Define state space object of two variables in the state space (y, vy) with initial conditions (change the state with your variables): 
+```
+>>> s = c4d.state(y = 1, vy = 0.5)
+``` 
+
+Multiply the state vector by a matrix and store:  
+```
+>>> F = [[1, 1],                      
+         [0, 1]]              
+>>> s.X += F @ s.X                     
+>>> s.store(t = 1)                    
+```
+
+Print the state variables, the state vector, and the stored data:  
+```
+>>> print(s)  
+[ y  vy ]
+>>> s.X 
+[2.5  1]
+>>> s.data('y') 
+([0,  1], [1,  2.5])
+```
+
+## Support 
+If you encounter problems, have questions, or would like to suggest improvements, 
+please open an Issue in this repository.
+
+
+## New in Block 2
+
+Enhancements and modules in latest release:
+
+- Complete state space objects mechanism
+- Seeker and radar measurements
+- Kalman filter and Extended Kalman filter
+- YOLOv3 object detection API 
+- Datasets fetching to run examples
+- Documentation
+

c4dynamics-2.2.0/README.md

@@ -0,0 +1,143 @@
+<div align="center">
+  <img src="https://github.com/C4dynamics/C4dynamics/blob/main/docs/source/_icon/c4dlogotext.svg">
+</div>
+
+
+
+# Tsipor Dynamics
+
+## Algorithms Engineering and Development
+
+
+
+Tsipor (bird) Dynamics (c4dynamics) is the Python framework for state-space modeling and algorithm development.
+
+
+
+
+
+![Static Badge](https://img.shields.io/badge/python-%20?style=for-the-badge&logo=python&color=white)
+![PyPI - Version](https://img.shields.io/pypi/v/c4dynamics?style=for-the-badge&color=orange&link=https%3A%2F%2Fpypi.org%2Fproject%2Fc4dynamics%2F)
+![GitHub deployments](https://img.shields.io/github/deployments/C4dynamics/C4dynamics/github-pages%20?style=for-the-badge&label=docs)
+![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/c4dynamics/c4dynamics/run-tests.yml?style=for-the-badge&label=tests&link=https%3A%2F%2Fgithub.com%2FC4dynamics%2FC4dynamics%2Fblob%2Fmain%2F.github%2Fworkflows%2Frun-tests.yml)
+![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/C4dynamics/C4dynamics/paper.yml?style=for-the-badge&label=Paper)
+![Pepy Total Downloads](https://img.shields.io/pepy/dt/c4dynamics?style=for-the-badge&color=blue%20&link=https%3A%2F%2Fpepy.tech%2Fprojects%2Fc4dynamics%3FtimeRange%3DthreeMonths%26category%3Dversion%26includeCIDownloads%3Dtrue%26granularity%3Ddaily%26viewType%3Dline%26versions%3D2.0.3%252C2.0.1%252C2.0.0)
+
+
+
+
+[Documentation](https://c4dynamics.github.io/C4dynamics/)
+
+
+## Why c4dynamics?
+
+✅ State objects for easy modeling
+
+✅ Built-in functions for Kalman filters
+
+✅ Integrated sensors and object detection models
+
+✅ Out-of-the-box environments for reinforcement learning 
+
+✅ Seamless integration with OpenCV & Open3D 
+
+✅ Optimization for Monte Carlo simulations
+
+
+
+
+**c4dynamics** is designed to 
+simplify the development of algorithms for dynamic systems, 
+using state space representations. 
+It offers engineers and researchers a systematic approach to model, 
+simulate, and control systems in fields like 
+``robotics, aerospace,`` and ``navigation``.
+
+The framework introduces ``state objects,`` which are foundational 
+data structures that encapsulate state vectors and provide 
+the tools for managing data, simulating system behavior, 
+and analyzing results. 
+
+With integrated modules for sensors, 
+detectors, and filters, 
+c4dynamics accelerates algorithm development 
+while maintaining flexibility and scalability.
+
+
+
+## Requirements 
+- 3.8 <= Python <= 3.12
+- Required packages are listed in [requirements.txt](requirements.txt)
+
+
+
+## Installation 
+
+For detailed instructions on installing c4dynamics, including setup for virtual environments, Python version requirements, and troubleshooting, refer to the [c4dynamics setup guide](c4dynamics_setup.ipynb).
+
+* [PIP](https://pypi.org/project/c4dynamics/)
+
+```
+>>> pip install c4dynamics
+```
+
+
+
+* [GitHub](https://github.com/C4dynamics/C4dynamics)  
+
+To run the latest GitHub version, download the repo and install required packages:
+
+```
+>>> pip install -r requirements.txt
+```
+
+ 
+ 
+ 
+
+## Quickstart
+
+Import c4dynamics:
+```
+>>> import c4dynamics as c4d
+```
+
+Define state space object of two variables in the state space (y, vy) with initial conditions (change the state with your variables): 
+```
+>>> s = c4d.state(y = 1, vy = 0.5)
+``` 
+
+Multiply the state vector by a matrix and store:  
+```
+>>> F = [[1, 1],                      
+         [0, 1]]              
+>>> s.X += F @ s.X                     
+>>> s.store(t = 1)                    
+```
+
+Print the state variables, the state vector, and the stored data:  
+```
+>>> print(s)  
+[ y  vy ]
+>>> s.X 
+[2.5  1]
+>>> s.data('y') 
+([0,  1], [1,  2.5])
+```
+
+## Support 
+If you encounter problems, have questions, or would like to suggest improvements, 
+please open an Issue in this repository.
+
+
+## New in Block 2
+
+Enhancements and modules in latest release:
+
+- Complete state space objects mechanism
+- Seeker and radar measurements
+- Kalman filter and Extended Kalman filter
+- YOLOv3 object detection API 
+- Datasets fetching to run examples
+- Documentation
+

{c4dynamics-2.0.3 → c4dynamics-2.2.0}/c4dynamics/__init__.py

@@ -20,11 +20,11 @@ Available subpackages
 sensors
   Models of EO and EM sensors. 
 detectors
-  Objects detection models to computer vision manipulations.
+  Objects detection models.
 filters
   Kalman and lowpass filters.
 eqm 
-  Runge Kutta solvers for integrating the equations of motion on the datapoint and rigidbody objects. 
+  Runge Kutta solvers for integrating the equations of motion. 
 rotmat
   Rotation matrices and rotational operations. 
 '''
@@ -43,7 +43,7 @@ from .states.state import state
 from .states.lib.pixelpoint import pixelpoint
 from .states.lib.datapoint import datapoint, create
 from . import rotmat
-# rotmat is required to import rigidbody:  
+# rotmat is required to importing rigidbody:  
 from .states.lib.rigidbody import rigidbody # rotmat is required to import rigidbody.  
 
 #
@@ -74,12 +74,16 @@ from . import filters
 from . import detectors
 
 
+#
+# reinforcement learning 
+## 
+from . import envs 
 
 
 #
 # version
 ##
-__version__ = '2.0.3'
+__version__ = '2.2.0' # update also in pyproject.toml
 
 
 #
@@ -89,9 +93,9 @@ j = os.path.join
 
 
 
-#
-# warnings 
-##
+''' 
+WARNINGS 
+'''
 class c4warn(UserWarning): pass
 
 # customize the warning messages:  
@@ -114,24 +118,29 @@ def show_warning(message, category, filename, lineno, file = None, line = None):
 
 warnings.showwarning = show_warning
 
-
+'''
+TESTING 
+'''
 
 class IgnoreOutputChecker(doctest.OutputChecker):
   from typing import Union
 
   IGNORE_OUTPUT = doctest.register_optionflag("IGNORE_OUTPUT") # 2048
-  NUMPY_FORMAT = doctest.register_optionflag("NUMPY_FORMAT")  # 4096 
+  NUMPY_FORMAT = doctest.register_optionflag("NUMPY_FORMAT") # 4096 
 
   def check_output(self, want, got, optionflags): 
 
+
     # If the IGNORE_OUTPUT flag is set, always return True
     if optionflags & self.IGNORE_OUTPUT:
       return True
 
     # If NUMPY_FORMAT flag is set, compare NumPy arrays with formatting tolerance
     if optionflags & self.NUMPY_FORMAT:
+
       want = self._convert_to_array(want)
       got = self._convert_to_array(got)
+
       if want is not None and got is not None:
 
         abs_tol = 1e-3
@@ -155,27 +164,90 @@ class IgnoreOutputChecker(doctest.OutputChecker):
 
     import re 
 
-
     """Attempt to convert text to a NumPy array for comparison."""
     try:
 
       if ',' not in text:
         text = re.sub(r'\s+', ',', text.strip())
 
-      # Remove extraneous text like 'array(' and closing ')' using regex
-      clean_text = re.sub(r'(array\(|\))', '', text).strip()
-      # Remove brackets
-      clean_text = re.sub(r'[\[\]]', '', clean_text)
-
+      # Remove 'np.type'
+      text = re.sub(r'np\.\w+', '', text)
+      # Remove 'array(' and strip leading/trailing whitespace characters 
+      text = re.sub(r'(array\()', '', text).strip()
+      # Remove brackets and parantheses 
+      text = re.sub(r'[\[\]\(\)]', '', text)
+      # remove ellipsis
+      text = re.sub(r'\.\.\.', '', text)
       # Convert to NumPy array
-      return np.fromstring(clean_text, sep = ',')
+      return np.fromstring(text, sep = ',')
     
     except ValueError:
+      print(f"\n \033[31m DOCSTRING ERROR: Could not convert to an array \033[0m", file = sys.stderr)
       return None  # Return None if conversion fails
 
 
-# just find the package root folder: 
 
+  # Filter out tests for the animate method by overriding the testmod.
+
+
+def testmod_filtering(module, filter_functions = [], **kwargs):
+
+  tests = []
+  
+  for test in doctest.DocTestFinder().find(module):
+    filtfunc = False
+    for func in filter_functions:
+      if func == test.name:
+        filtfunc = True
+        break
+    if filtfunc: continue
+    tests.append(test)
+  
+
+  runner = doctest.DocTestRunner(**kwargs)
+  for test in tests:
+    runner.run(test)
+  return runner.summarize()
+
+
+def rundoctests(module, exclude_functions = []):
+  import doctest, contextlib, os
+  from c4dynamics import IgnoreOutputChecker, cprint
+  from matplotlib import pyplot as plt
+  from pathlib import Path 
+  
+  tofile = False
+  # pltbe = plt.get_backend()
+  # plt.switch_backend("tkAgg")
+
+  # Register the custom OutputChecker
+  doctest.OutputChecker = IgnoreOutputChecker
+
+  optionflags = doctest.FAIL_FAST
+  np.set_printoptions(legacy = "1.25")
+  
+  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) 
+        result = testmod_filtering(module, exclude_functions, optionflags = optionflags) 
+  else: 
+    # result = doctest.testmod(optionflags = optionflags)
+    result = testmod_filtering(module, exclude_functions, optionflags = optionflags) 
+
+  if result.failed == 0:
+    cprint(Path(module.__file__).parts[-1] + ": all tests passed!", 'g')
+  else:
+    print(f"{result.failed}")
+
+  
+  # plt.switch_backend(pltbe)
+
+
+''' 
+ROOT FOLDER
+'''
+# just find the package root folder: 
 def c4dir(dir, addpath = ''):
   # dirname and basename are supplamentary:
   # c:\dropbox\c4dynamics\text.txt
@@ -194,6 +266,9 @@ def c4dir(dir, addpath = ''):
   return c4dir(os.path.dirname(dir), addpath)
 
 
+''' 
+KEYWORDS 
+'''
 # 
 # TODO BUG FIXME HACK NOTE XXX 
 # 

{c4dynamics-2.0.3 → c4dynamics-2.2.0}/c4dynamics/datasets/__init__.py

@@ -71,25 +71,27 @@ from c4dynamics.datasets._manager import sha256, image, video, nn_model, d3_mode
 
 if __name__ == "__main__":
 
-  import doctest, contextlib
-  from c4dynamics import IgnoreOutputChecker, cprint
+  # 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}")
+  # # 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}")
+  from c4dynamics import rundoctests
+  rundoctests(sys.modules[__name__])
 
 

{c4dynamics-2.0.3 → c4dynamics-2.2.0}/c4dynamics/datasets/_manager.py

@@ -572,25 +572,42 @@ def sha256(filename: str) -> str:
 
 if __name__ == "__main__":
 
+
+
+  try:
+    import open3d as o3d  # OPEN3D AVAILABLE
+
+  except ImportError:     # OPEN3D UNAVAILABLE
+    # remove the doctests for d3_model if open3d is not available
+    
+    current_module = sys.modules[__name__]
+    if hasattr(current_module, "d3_model"):
+      current_module.d3_model.__doc__ = ""   # clears doctest examples
+
+
   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)
+  # # Register the custom OutputChecker
+  # doctest.OutputChecker = IgnoreOutputChecker
 
-  if result.failed == 0:
-    cprint(os.path.basename(__file__) + ": all tests passed!", 'g')
-  else:
-    print(f"{result.failed}")
+  # 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}")
+
+  from c4dynamics import rundoctests
+  rundoctests(sys.modules[__name__])
 
 

{c4dynamics-2.0.3 → c4dynamics-2.2.0}/c4dynamics/datasets/_registry.py

@@ -30,10 +30,13 @@ nn_register     = pooch.create(
       path      = CACHE_DIR
     , base_url  = ''
     , registry  = {
-          'yolov3.weights': '523e4e69e1d015393a1b0a441cef1d9c7659e3eb2d7e15f793f060a21b32f297'          
+          # 'yolov3.weights': '523e4e69e1d015393a1b0a441cef1d9c7659e3eb2d7e15f793f060a21b32f297'    
+          'yolov3.weights': '523e4e69e1d015393a1b0a441cef1d9c7659e3eb2d7e15f793f060a21b32f297'    
+                
       }
     , urls      = {
-          'yolov3.weights': 'https://pjreddie.com/media/files/yolov3.weights'
+          # 'yolov3.weights': 'https://pjreddie.com/media/files/yolov3.weights'
+          'yolov3.weights': 'https://huggingface.co/spaces/Epitech/Scarecrow/resolve/main/yolov3.weights'
       }
     , retry_if_failed = 1  
   )

c4dynamics-2.2.0/c4dynamics/detectors/__init__.py

@@ -0,0 +1,26 @@
+''' 
+
+`c4dynamics` provides an API to third party object detection models.
+
+
+.. list-table:: 
+  :header-rows: 0
+
+  * - :class:`YOLOv3 <c4dynamics.detectors.yolo3_opencv.yolov3>`
+    - Realtime object detection model based on YOLO (You Only Look Once) approach with 80 pre-trained COCO classes
+
+   
+'''
+
+import os, sys 
+sys.path.append('.')
+
+from c4dynamics.detectors.yolo3_opencv import yolov3
+
+if __name__ == "__main__":
+
+  from c4dynamics import rundoctests
+  rundoctests(sys.modules[__name__])
+
+
+