c4dynamics 2.2.0__tar.gz → 2.3.0__tar.gz

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: c4dynamics
-Version: 2.2.0
+Version: 2.3.0
 Summary: Python framework for state-space modeling and algorithm development
 Author: c4dynamics
 Author-email: Ziv Meri <zivmeri@gmail.com>

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/__init__.py

@@ -83,7 +83,7 @@ from . import envs
 #
 # version
 ##
-__version__ = '2.2.0' # update also in pyproject.toml
+__version__ = '2.3.0' # update also in pyproject.toml
 
 
 #

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/detectors/yolo3_opencv.py

@@ -168,7 +168,7 @@ class yolov3:
         >>> def ptup(n): return '(' + str(n[0]) + ', ' + str(n[1]) + ')'
         >>> print('{:^10} | {:^10} | {:^16} | {:^16} | {:^10} | {:^14}'.format('center x', 'center y', 'box top-left', 'box bottom-right', 'class', 'frame size')) # doctest: +IGNORE_OUTPUT
         >>> for p in pts:
-        ...   print('{:^10d} | {:^10d} | {:^16} | {:^16} | {:^10} | {:^14}'.format(p.x, p.y, ptup(p.box[0]), ptup(p.box[1]), p.class_id, ptup(p.fsize)))     # doctest: +IGNORE_OUTPUT
+        ...   print('{:^10} | {:^10} | {:^16} | {:^16} | {:^10} | {:^14}'.format(p.x, p.y, ptup(p.box[0]), ptup(p.box[1]), p.class_id, ptup(p.fsize)))     # doctest: +IGNORE_OUTPUT
         ...   cv2.rectangle(img, p.box[0], p.box[1], [0, 0, 0], 2)      # +IGNORE_OUTPUT
         ...   point = (int((p.box[0][0] + p.box[1][0]) / 2 - 75), p.box[1][1] + 22)     # doctest: +IGNORE_OUTPUT
         ...   cv2.putText(img, p.class_id, point, cv2.FONT_HERSHEY_SIMPLEX, 1, [0, 0, 0], 2)     # doctest: +IGNORE_OUTPUT

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/filters/ekf.py

@@ -128,7 +128,7 @@ class ekf(kalman):
 
       .. code:: 
 
-        >>> _ekf = ekf({'x': 0.}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
+        >>> _ekf = ekf({'x': 0}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
         >>> print(_ekf)
         [ x ]
         >>> _ekf.X          # doctest: +NUMPY_FORMAT
@@ -146,7 +146,7 @@ class ekf(kalman):
 
       .. code:: 
 
-        >>> _ekf = ekf({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> _ekf = ekf({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> _ekf.X      # doctest: +NUMPY_FORMAT
         [0]
         >>> _ekf.P         # doctest: +NUMPY_FORMAT
@@ -163,7 +163,7 @@ class ekf(kalman):
 
       .. code:: 
 
-        >>> _ekf = ekf({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> _ekf = ekf({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> _ekf.X   # doctest: +NUMPY_FORMAT
         [0]
         >>> _ekf.P  # doctest: +NUMPY_FORMAT
@@ -244,7 +244,7 @@ class ekf(kalman):
 
       .. code:: 
 
-        >>> _ekf = ekf({'x': 0.}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
+        >>> _ekf = ekf({'x': 0}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
         >>> print(_ekf)
         [ x ]
         >>> _ekf.X   # doctest: +NUMPY_FORMAT
@@ -264,7 +264,7 @@ class ekf(kalman):
 
       .. code:: 
 
-        >>> _ekf = ekf({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> _ekf = ekf({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> _ekf.X   # doctest: +NUMPY_FORMAT
         [0]
         >>> _ekf.P  # doctest: +NUMPY_FORMAT

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/filters/kalman.py

@@ -139,7 +139,7 @@ class kalman(c4d.state):
 
       >>> v = 150
       >>> sensor_noise = 200 
-      >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, G = v, H = 1
+      >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, G = v, H = 1
       ...                         , Q = 0.05, R = sensor_noise**2, steadystate = True)
 
 
@@ -193,7 +193,7 @@ class kalman(c4d.state):
     .. code:: 
 
       >>> v = 150
-      >>> kf = kalman({'x': 0.}, P0 = 0.5*2, F = 1, G = v, H = 1, Q = 0.05)
+      >>> kf = kalman({'x': 0}, P0 = 0.5*2, F = 1, G = v, H = 1, Q = 0.05)
       >>> for t in range(1, 26): #  seconds. 
       ...   kf.store(t)
       ...   sensor_noise = 200 + 8 * t 
@@ -352,7 +352,7 @@ class kalman(c4d.state):
 
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200, steadystate = True)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200, steadystate = True)
         >>> print(kf)
         [ x ]
         >>> kf.X          # doctest: +NUMPY_FORMAT
@@ -370,7 +370,7 @@ class kalman(c4d.state):
 
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> kf.X  # doctest: +NUMPY_FORMAT
         [0]
         >>> kf.P          # doctest: +NUMPY_FORMAT
@@ -387,7 +387,7 @@ class kalman(c4d.state):
 
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> kf.X  # doctest: +NUMPY_FORMAT
         [0]
         >>> kf.P # doctest: +NUMPY_FORMAT
@@ -477,7 +477,7 @@ class kalman(c4d.state):
 
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200, steadystate = True)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200, steadystate = True)
         >>> print(kf)
         [ x ]
         >>> kf.X   # doctest: +NUMPY_FORMAT
@@ -497,7 +497,7 @@ class kalman(c4d.state):
 
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, G = 150, H = 1, R = 200, Q = 0.05)
         >>> kf.X   # doctest: +NUMPY_FORMAT
         [0]
         >>> kf.P   # doctest: +NUMPY_FORMAT
@@ -591,7 +591,7 @@ class kalman(c4d.state):
       
       .. code:: 
 
-        >>> kf = kalman({'x': 0.}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
+        >>> kf = kalman({'x': 0}, P0 = 0.5**2, F = 1, H = 1, Q = 0.05, R = 200)
         >>> # store initial conditions
         >>> kf.store() 
         >>> kf.predict()
@@ -668,7 +668,7 @@ class kalman(c4d.state):
     Q = np.eye(6) * process_noise**2
     R = np.eye(4) * measure_noise**2
 
-    kf = kalman({'x': 0., 'y': 0., 'w': 0., 'h': 0., 'vx': 0., 'vy': 0.}
+    kf = kalman({'x': 0, 'y': 0, 'w': 0, 'h': 0, 'vx': 0, 'vy': 0}
                           , steadystate = True, F = F, H = H, Q = Q, R = R)
     return kf 
 

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/states/lib/datapoint.py

@@ -200,7 +200,7 @@ class datapoint(state):
   _mass = 1
 
 
-  def __init__(self, x = 0., y = 0., z = 0., vx = 0., vy = 0., vz = 0.):
+  def __init__(self, x = 0, y = 0, z = 0, vx = 0, vy = 0, vz = 0):
     # TODO: document the state type being float by default. (required after chaning vars to 0.0 and the mechanism of generating the state vector array. ) 
 
     dpargs = {}

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/states/lib/rigidbody.py

@@ -181,8 +181,8 @@ class rigidbody(datapoint):  #
   _iyy = 0
   _izz = 0
 
-  def __init__(self, x = 0., y = 0., z = 0., vx = 0., vy = 0., vz = 0. 
-                      ,  phi = 0., theta = 0., psi = 0., p = 0., q = 0., r = 0.
+  def __init__(self, x = 0, y = 0, z = 0, vx = 0, vy = 0, vz = 0
+                      ,  phi = 0, theta = 0, psi = 0, p = 0, q = 0, r = 0
                           ): 
 
     rbargs = {}

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/states/state.py

@@ -110,6 +110,7 @@ class state:
 
   _reserved_keys = ('X', 'X0', 'P', 'V', 'Position', 'Velocity', 'norm', 'normalize', 'data', '_data', '_prmdata', '_didx')
 
+  _STATETYPE = np.float64
 
   def __init__(self, **kwargs):
     # TODO enable providing type for the setter.X output.      
@@ -137,7 +138,7 @@ class state:
     # if any of the input vars is floating point, then it casts the entire state type (no partial types array)
     # if all of them are integer, it casts the staet type. 
     # i think maybe the best way to achieve it is by generating a numpy array and check its dtype: 
-    self._X = np.array(list(kwargs.values()))
+    self._X = np.array(list(kwargs.values()), dtype = self._STATETYPE)
     # self._X = np.zeros(len(kwargs)) #, dtype = np.float64)
     # TODO: now the type is determined by the initial values. 
     #       if any is floating point then the entire state is float.
@@ -205,13 +206,13 @@ class state:
     # intercept known state variables
     if "_didx" in self.__dict__ and var in self._didx:
 
-      if np.array(val).dtype != self._X.dtype:
-        warnings.warn(
-              f"Type mismatch! Casting X to {np.array(val).dtype}. (currently: {self._X.dtype})."
-          , c4d.c4warn)
-        self._X = self._X.astype(np.array(val).dtype)      
+      # if np.array(val).dtype != self._X.dtype:
+      #   warnings.warn(
+      #         f"Type mismatch! Casting X to {np.array(val).dtype}. (currently: {self._X.dtype})."
+      #     , c4d.c4warn)
+      #   self._X = self._X.astype(np.array(val).dtype)      
         
-      self._X[self._didx[var] - 1] = val
+      self._X[self._didx[var] - 1] = np.array(val).astype(self._STATETYPE)
     else:
       # regular attribute assignment
       super().__setattr__(var, val)
@@ -266,7 +267,7 @@ class state:
       >>> dp.X   # doctest: +NUMPY_FORMAT
       [0  0  0  0  0  0]
       >>> #       x     y    z  vx vy vz 
-      >>> dp.X = [1000., 100., 0., 0., 0., -100.] 
+      >>> dp.X = [1000, 100, 0, 0, 0, -100] 
       >>> dp.X   # doctest: +NUMPY_FORMAT
       [1000  100  0  0  0  -100]
     
@@ -298,13 +299,13 @@ class state:
     # i think to replace flatten() with ravel() is 
     # safe also here because Xin is iterated over its elements which are
     # mutable. but lets keep tracking. 
-    Xin = np.atleast_1d(Xin).ravel()
+    Xin = np.atleast_1d(Xin).ravel().astype(self._STATETYPE)
 
-    if Xin.dtype != self._X.dtype:
-      warnings.warn(
-            f"Type mismatch! Casting X to {Xin.dtype}. (currently: {self._X.dtype})."
-        , c4d.c4warn)
-      self._X = self._X.astype(Xin.dtype)
+    # if Xin.dtype != self._X.dtype:
+    #   warnings.warn(
+    #         f"Type mismatch! Casting X to {Xin.dtype}. (currently: {self._X.dtype})."
+    #     , c4d.c4warn)
+    #   self._X = self._X.astype(Xin.dtype)
 
 
     if len(Xin) != len(self._X):
@@ -421,6 +422,8 @@ class state:
       [0  0  0]
 
     '''
+    # NOTE: maybe useless because user can always create a new state object.
+    
     b0 = len(self._didx)
     
     for i, (k, v) in enumerate(kwargs.items()):
@@ -493,7 +496,7 @@ class state:
 
     .. code:: 
 
-      >>> s = c4d.state(x = 1., y = 0., z = 0.)
+      >>> s = c4d.state(x = 1, y = 0, z = 0)
       >>> for t in np.linspace(0, 1, 3):
       ...   s.X = np.random.rand(3)
       ...   s.store(t)
@@ -602,7 +605,7 @@ class state:
       >>> np.random.seed(44)
       >>> for i in range(3): 
       ...   s.X += 1 
-      ...   s.w, s.h = np.random.randint(0, 50, 2, dtype = np.int64)
+      ...   s.w, s.h = np.random.randint(0, 50, 2)
       ...   if s.w > 40 or s.h > 20: 
       ...     s.class_id = 'truck' 
       ...   else:  
@@ -733,7 +736,7 @@ class state:
     .. code:: 
 
       >>> np.random.seed(100) # to reproduce results 
-      >>> s = c4d.state(x = 1., y = 0., z = 0.)
+      >>> s = c4d.state(x = 1, y = 0, z = 0)
       >>> for t in np.linspace(0, 1, 3):
       ...   s.X = np.random.rand(3)
       ...   s.store(t)
@@ -760,7 +763,7 @@ class state:
 
     .. code::
 
-      >>> s = c4d.state(phi = 0.)
+      >>> s = c4d.state(phi = 0)
       >>> for p in np.linspace(0, c4d.pi):
       ...   s.phi = p
       ...   s.store()
@@ -939,7 +942,7 @@ class state:
       >>> s = c4d.state(x = 0, y = 0)
       >>> s.store()
       >>> for _ in range(100):
-      ...   s.x = np.random.randint(0, 100, 1, dtype = np.int64)
+      ...   s.x = np.random.randint(0, 100, 1)
       ...   s.store()
       >>> s.plot('x', filename = 'x.png')   # doctest: +IGNORE_OUTPUT 
       >>> plt.show()
@@ -958,7 +961,7 @@ class state:
 
     **Dark mode off:**  
 
-      >>> s = c4d.state(x = 0.)
+      >>> s = c4d.state(x = 0)
       >>> s.xstd = 0.2 
       >>> for t in np.linspace(-2 * c4d.pi, 2 * c4d.pi, 1000):
       ...   s.x = c4d.sin(t) + np.random.randn() * s.xstd 
@@ -974,7 +977,7 @@ class state:
 
     .. code:: 
 
-      >>> s = c4d.state(phi = 0.)
+      >>> s = c4d.state(phi = 0)
       >>> for y in c4d.tan(np.linspace(-c4d.pi, c4d.pi, 500)):
       ...   s.phi = c4d.atan(y)
       ...   s.store()

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/utils/const.py

@@ -5,7 +5,10 @@ Globals and conversion constants.
 
 
 C4dynamics includes several constants as global quantities 
-and conversion units:
+and conversion units.  
+All c4dynamics constants reside directly in the c4dynamics namespace.
+For example, if c4dynamics is imported as c4d, then the value of pi is given by c4d.pi. 
+
 
 
 Global Constants

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics/utils/math.py

@@ -10,7 +10,12 @@ Math functions aliasing.
 
 For convenience, C4dynamics aliases some of 
 NumPy's trigonometric functions 
-with slight variations in some of them:
+with slight variations in some of them.
+
+All c4dynamics math functions reside directly in the c4dynamics namespace.
+For example, if c4dynamics is imported as c4d, then the sin() function is given by c4d.sin(). 
+
+
 
 .. code::
 

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/c4dynamics.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: c4dynamics
-Version: 2.2.0
+Version: 2.3.0
 Summary: Python framework for state-space modeling and algorithm development
 Author: c4dynamics
 Author-email: Ziv Meri <zivmeri@gmail.com>

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "c4dynamics"
-version = "2.2.0"
+version = "2.3.0"
 description = "Python framework for state-space modeling and algorithm development"
 authors = [
     {name = "Ziv Meri", email="zivmeri@gmail.com"}

{c4dynamics-2.2.0 → c4dynamics-2.3.0}/setup.py

@@ -56,7 +56,7 @@ setup(
     , keywords = ['python', 'dynamics', 'physics'
                     , 'algorithms', 'computer vision'
                         , 'navigation', 'guidance', 'slam' 
-                            , 'vsalm', 'image processing', 'singal processing', 'control']
+                            , 'vslam', 'image processing', 'signal processing', 'control']
     , classifiers = ['Development Status :: 5 - Production/Stable'
                         , 'Intended Audience :: Developers'
                             , 'Programming Language :: Python :: 3'