cartesian-tree 0.2.0__tar.gz → 0.2.1__tar.gz

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/Cargo.lock

@@ -4,7 +4,7 @@ version = 4
 
 [[package]]
 name = "CartesianTree"
-version = "0.2.0"
+version = "0.2.1"
 dependencies = [
  "nalgebra",
  "pyo3",

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/Cargo.toml

@@ -1,16 +1,29 @@
 [package]
 authors = ["Kn0g"]
 name = "CartesianTree"
-version = "0.2.0"
+version = "0.2.1"
 edition = "2024"
 description = "Build hierarchical Cartesian coordinate systems to easily transform poses."
 homepage = "https://github.com/Kn0g/cartesian-tree"
 readme = "README.md"
 repository = "https://github.com/Kn0g/cartesian-tree"
 license = "MIT"
+include = ["/src"]
 keywords = ["Cartesian", "coordinate-systems", "transform", "poses"]
 categories = ["mathematics", "data-structures"]
 
+[lints.clippy]
+all = "warn"
+style = "warn"
+pedantic = "warn"
+cargo = "warn"
+nursery = "warn"
+missing_panics_doc = "warn"
+missing_errors_doc = "warn"
+missing_safety_doc = "warn"
+empty_line_after_outer_attr = "warn"
+empty_line_after_doc_comments = "warn"
+
 [dependencies]
 nalgebra = { version = "0.33.2", features = ["serde-serialize"] }
 pyo3 = { version = "0.25.0", features = ["extension-module"] , optional = true}

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: cartesian-tree
-Version: 0.2.0
+Version: 0.2.1
 Classifier: Programming Language :: Python
 Requires-Dist: cartesian-tree[lint] ; extra == 'dev'
 Requires-Dist: cartesian-tree[test] ; extra == 'dev'
@@ -13,12 +13,12 @@ Provides-Extra: dev
 Provides-Extra: lint
 Provides-Extra: test
 Provides-Extra: build
+License-File: license-mit
 Summary: Build hierarchical Cartesian coordinate systems to easily transform poses.
 Keywords: Cartesian,coordinate systems,transform,poses
 Home-Page: https://github.com/Kn0g/cartesian-tree
 Author: Kn0g
 Maintainer: Kn0g
-License-Expression: MIT
 Requires-Python: >=3.9
 Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
 

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/pyproject.toml

@@ -9,7 +9,7 @@ maintainers = [{name = "Kn0g"}]
 description = "Build hierarchical Cartesian coordinate systems to easily transform poses."
 readme = "README.md"
 keywords = ["Cartesian", "coordinate systems", "transform", "poses"]
-license = "MIT"
+license = { file = "license-mit" }
 classifiers = [
     "Programming Language :: Python"
 ]

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/python/cartesian_tree/lib.py

@@ -140,11 +140,15 @@ class Frame:
     def apply_config(self, config_json: str) -> None:
         """Applies a JSON config to update matching transforms in the tree.
 
+        Deserializes the JSON to a temporary structure, then recursively updates transforms to the
+        parent frames where names match (partial apply; ignores unmatched frames in config).
+        It is assumed this frame is the root.
+
         Args:
             config_json: The JSON string to apply.
 
         Raises:
-            ValueError: On deserialization or mismatch errors.
+            ValueError: On deserialization or mismatch errors (e.g. if this frame is not the root).
         """
         self._core_frame.apply_config(config_json)
 

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/bindings/frame.rs

@@ -20,7 +20,7 @@ impl PyFrame {
     #[new]
     #[pyo3(signature = (name))]
     fn new(name: String) -> Self {
-        PyFrame {
+        Self {
             rust_frame: RustFrame::new_origin(name),
         }
     }
@@ -36,11 +36,11 @@ impl PyFrame {
         name: String,
         position: PyPosition,
         quaternion: PyQuaternion,
-    ) -> PyResult<PyFrame> {
+    ) -> PyResult<Self> {
         let child_frame = self
             .rust_frame
             .add_child(name, position.position, quaternion.quat)?;
-        Ok(PyFrame {
+        Ok(Self {
             rust_frame: child_frame,
         })
     }
@@ -52,14 +52,14 @@ impl PyFrame {
         desired_position: PyPosition,
         desired_quaternion: PyQuaternion,
         reference_pose: &PyPose,
-    ) -> PyResult<PyFrame> {
+    ) -> PyResult<Self> {
         let new_rust_frame = self.rust_frame.calibrate_child(
             name,
             desired_position.position,
             desired_quaternion.quat,
             &reference_pose.rust_pose,
         )?;
-        Ok(PyFrame {
+        Ok(Self {
             rust_frame: new_rust_frame,
         })
     }
@@ -98,8 +98,8 @@ impl PyFrame {
     }
 
     #[pyo3(signature = (json))]
-    fn apply_config(&self, json: String) -> PyResult<()> {
-        self.rust_frame.apply_config(&json)?;
+    fn apply_config(&self, json: &str) -> PyResult<()> {
+        self.rust_frame.apply_config(json)?;
         Ok(())
     }
 
@@ -108,23 +108,21 @@ impl PyFrame {
         self.rust_frame.depth()
     }
 
-    fn root(&self) -> PyFrame {
-        PyFrame {
+    fn root(&self) -> Self {
+        Self {
             rust_frame: self.rust_frame.root(),
         }
     }
 
-    fn parent(&self) -> Option<PyFrame> {
-        self.rust_frame
-            .parent()
-            .map(|rf| PyFrame { rust_frame: rf })
+    fn parent(&self) -> Option<Self> {
+        self.rust_frame.parent().map(|rf| Self { rust_frame: rf })
     }
 
-    fn children(&self) -> Vec<PyFrame> {
+    fn children(&self) -> Vec<Self> {
         self.rust_frame
             .children()
             .into_iter()
-            .map(|rf| PyFrame { rust_frame: rf })
+            .map(|rf| Self { rust_frame: rf })
             .collect()
     }
 

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/bindings/pose.rs

@@ -22,7 +22,7 @@ impl PyPose {
             .map(|frame| PyFrame { rust_frame: frame })
     }
 
-    fn transformation(&self) -> (PyPosition, PyQuaternion) {
+    const fn transformation(&self) -> (PyPosition, PyQuaternion) {
         let isometry = self.rust_pose.transformation();
         (
             PyPosition {
@@ -40,9 +40,9 @@ impl PyPose {
     }
 
     #[pyo3(signature = (target_frame))]
-    fn in_frame(&self, target_frame: &PyFrame) -> PyResult<PyPose> {
+    fn in_frame(&self, target_frame: &PyFrame) -> PyResult<Self> {
         let new_rust_pose = self.rust_pose.in_frame(&target_frame.rust_frame)?;
-        Ok(PyPose {
+        Ok(Self {
             rust_pose: new_rust_pose,
         })
     }
@@ -70,8 +70,7 @@ impl PyPose {
         format!(
             "'{}', ({:.2}, {:.2}, {:.2})({:.4}, {:.4}, {:.4}, {:.4}))",
             self.frame()
-                .map(|frame| frame.name())
-                .unwrap_or_else(|| "Unknown".to_string()),
+                .map_or_else(|| "Unknown".to_string(), |frame| frame.name()),
             position.x,
             position.y,
             position.z,

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/bindings/utils.rs

@@ -4,7 +4,7 @@ use pyo3::prelude::*;
 use crate::CartesianTreeError;
 
 impl From<CartesianTreeError> for PyErr {
-    fn from(err: CartesianTreeError) -> PyErr {
+    fn from(err: CartesianTreeError) -> Self {
         pyo3::exceptions::PyValueError::new_err(err.to_string())
     }
 }
@@ -18,8 +18,8 @@ pub struct PyRPY {
 #[pymethods]
 impl PyRPY {
     #[new]
-    fn new(roll: f64, pitch: f64, yaw: f64) -> Self {
-        PyRPY {
+    const fn new(roll: f64, pitch: f64, yaw: f64) -> Self {
+        Self {
             rpy: Vector3::new(roll, pitch, yaw),
         }
     }
@@ -80,7 +80,7 @@ pub struct PyQuaternion {
 impl PyQuaternion {
     #[new]
     fn new(x: f64, y: f64, z: f64, w: f64) -> Self {
-        PyQuaternion {
+        Self {
             quat: UnitQuaternion::from_quaternion(nalgebra::Quaternion::new(w, x, y, z)),
         }
     }
@@ -151,8 +151,8 @@ pub struct PyPosition {
 #[pymethods]
 impl PyPosition {
     #[new]
-    fn new(x: f64, y: f64, z: f64) -> Self {
-        PyPosition {
+    const fn new(x: f64, y: f64, z: f64) -> Self {
+        Self {
             position: Vector3::new(x, y, z),
         }
     }

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/frame.rs

@@ -57,7 +57,7 @@ impl Frame {
     /// let origin = Frame::new_origin("world");
     /// ```
     pub fn new_origin(name: impl Into<String>) -> Self {
-        Frame {
+        Self {
             data: Rc::new(RefCell::new(FrameData {
                 name: name.into(),
                 parent: None,
@@ -81,7 +81,7 @@ impl Frame {
 
     pub(crate) fn walk_up_and_transform(
         &self,
-        target: &Frame,
+        target: &Self,
     ) -> Result<Isometry3<f64>, CartesianTreeError> {
         let mut transform = Isometry3::identity();
         let mut current = self.clone();
@@ -109,6 +109,7 @@ impl Frame {
     }
 
     /// Returns the name of the frame.
+    #[must_use]
     pub fn name(&self) -> String {
         self.borrow().name.clone()
     }
@@ -116,8 +117,11 @@ impl Frame {
     /// Returns the transformation from this frame to its parent frame.
     ///
     /// # Returns
-    /// - `Ok(Isometry3<f64>)` if the frame has a parent.
-    /// - `Err(String)` if the frame has no parent.
+    /// - The isometry from this frame to its parent frame.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - The frame has no parent.
     pub fn transform_to_parent(&self) -> Result<Isometry3<f64>, CartesianTreeError> {
         if self.parent().is_none() {
             return Err(CartesianTreeError::RootHasNoParent(self.name()));
@@ -136,7 +140,10 @@ impl Frame {
     ///
     /// # Returns
     /// - `Ok(())` if the transformation was updated successfully.
-    /// - `Err(String)` if the frame has no parent.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - The frame has no parent (i.e., the root frame).
     ///
     /// # Example
     /// ```
@@ -178,8 +185,11 @@ impl Frame {
     /// - `orientation`: An orientation convertible into a unit quaternion.
     ///
     /// # Returns
-    /// - `Ok(Rc<Frame>)` the newly added child frame.
-    /// - `Err(String)` if a child with the same name already exists.
+    /// The newly added child frame.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - A child with the same name already exists.
     ///
     /// # Example
     /// ```
@@ -196,7 +206,7 @@ impl Frame {
         name: impl Into<String>,
         position: Vector3<f64>,
         orientation: O,
-    ) -> Result<Frame, CartesianTreeError>
+    ) -> Result<Self, CartesianTreeError>
     where
         O: IntoOrientation,
     {
@@ -217,7 +227,7 @@ impl Frame {
         let quat = orientation.into_orientation();
         let transform = Isometry3::from_parts(Translation3::from(position), quat);
 
-        let child = Frame {
+        let child = Self {
             data: Rc::new(RefCell::new(FrameData {
                 name: child_name,
                 parent: Some(Rc::downgrade(&self.data)),
@@ -240,9 +250,13 @@ impl Frame {
     /// - `reference_pose`: The existing pose (in some frame A) used as the calibration reference.
     ///
     /// # Returns
-    /// - `Ok(Frame)` the new child frame if successful.
-    /// - `Err(CartesianTreeError)` if the reference frame is invalid, no common ancestor exists,
-    ///   or a child name conflict occurs.
+    /// - The new child frame if successful.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - The reference frame is invalid.
+    /// - No common ancestor exists.
+    /// - A child with the same name already exists.
     ///
     /// # Example
     /// ```
@@ -264,7 +278,7 @@ impl Frame {
         desired_position: Vector3<f64>,
         desired_orientation: O,
         reference_pose: &Pose,
-    ) -> Result<Frame, CartesianTreeError>
+    ) -> Result<Self, CartesianTreeError>
     where
         O: IntoOrientation,
     {
@@ -328,8 +342,11 @@ impl Frame {
     /// Transforms for root frames are set to identity.
     ///
     /// # Returns
-    /// - `Ok(String)` the pretty-printed JSON.
-    /// - `Err(CartesianTreeError)` on serialization failure.
+    /// The serialized tree as a JSON string.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - On deserialization failure.
     pub fn to_json(&self) -> Result<String, CartesianTreeError> {
         let serial = self.to_serial();
         Ok(serde_json::to_string_pretty(&serial)?)
@@ -340,7 +357,9 @@ impl Frame {
     /// This is used internally for JSON serialization.
     fn to_serial(&self) -> SerialFrame {
         let (position, orientation) = if self.parent().is_some() {
-            let iso = self.transform_to_parent().unwrap_or(Isometry3::identity());
+            let iso = self
+                .transform_to_parent()
+                .unwrap_or_else(|_| Isometry3::identity());
             (iso.translation.vector, iso.rotation)
         } else {
             (Vector3::zeros(), UnitQuaternion::identity())
@@ -357,15 +376,20 @@ impl Frame {
     /// Applies a JSON config to this frame tree by updating matching transforms.
     ///
     /// Deserializes the JSON to a temporary structure, then recursively updates transforms
-    /// where names match (partial apply; ignores unmatched nodes in config).
+    /// where names match (partial apply; ignores unmatched frames in config).
     /// Skips updating root frames (identity assumed) - assumes this frame is the root.
     ///
     /// # Arguments
     /// - `json`: The JSON string to apply.
     ///
     /// # Returns
-    /// - `Ok(())` if applied successfully (even if partial).
-    /// - `Err(CartesianTreeError)` on deserialization or mismatch (e.g., root names differ).
+    /// `Ok(())` if applied successfully (even if partial).
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - On deserialization failure.
+    /// - The frame names do not match at the root.
+    ///
     pub fn apply_config(&self, json: &str) -> Result<(), CartesianTreeError> {
         let serial: SerialFrame = serde_json::from_str(json)?;
         self.apply_serial(&serial)
@@ -400,13 +424,13 @@ impl Frame {
 }
 
 impl HasParent for Frame {
-    type Node = Frame;
+    type Node = Self;
 
     fn parent(&self) -> Option<Self::Node> {
         self.borrow()
             .parent
             .clone()
-            .and_then(|data_weak| data_weak.upgrade().map(|data_rc| Frame { data: data_rc }))
+            .and_then(|data_weak| data_weak.upgrade().map(|data_rc| Self { data: data_rc }))
     }
 }
 
@@ -417,8 +441,8 @@ impl NodeEquality for Frame {
 }
 
 impl HasChildren for Frame {
-    type Node = Frame;
-    fn children(&self) -> Vec<Frame> {
+    type Node = Self;
+    fn children(&self) -> Vec<Self> {
         self.borrow().children.clone()
     }
 }

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/pose.rs

@@ -24,11 +24,11 @@ impl Pose {
         frame: Weak<RefCell<FrameData>>,
         position: Vector3<f64>,
         orientation: O,
-    ) -> Pose
+    ) -> Self
     where
         O: IntoOrientation,
     {
-        Pose {
+        Self {
             parent: frame,
             transform_to_parent: Isometry3::from_parts(
                 Translation3::from(position),
@@ -52,6 +52,7 @@ impl Pose {
     /// let pose = frame.add_pose(Vector3::new(0.0, 0.0, 0.0), UnitQuaternion::identity());
     /// assert_eq!(pose.frame().unwrap().name(), "base");
     /// ```
+    #[must_use]
     pub fn frame(&self) -> Option<Frame> {
         self.parent.upgrade().map(|data| Frame { data })
     }
@@ -60,7 +61,8 @@ impl Pose {
     ///
     /// # Returns
     /// The transformation of the pose in its parent frame.
-    pub fn transformation(&self) -> Isometry3<f64> {
+    #[must_use]
+    pub const fn transformation(&self) -> Isometry3<f64> {
         self.transform_to_parent
     }
 
@@ -93,8 +95,12 @@ impl Pose {
     /// * `target` - The frame to express this pose in.
     ///
     /// # Returns
-    /// - `Ok(Pose)` a new `Pose`, expressed in the `target` frame.
-    /// - `Err(String)` if the frame hierarchy cannot be resolved (due to dropped frames or no common ancestor).
+    /// A new `Pose`, expressed in the `target` frame.
+    ///
+    /// # Errors
+    /// Returns a [`CartesianTreeError`] if:
+    /// - The frame hierarchy cannot be resolved (e.g., due to dropped frames).
+    /// - There is no common ancestor between `self` and `target`.
     ///
     /// # Example
     /// ```
@@ -106,7 +112,7 @@ impl Pose {
     /// let new_frame = root.add_child("child", Vector3::new(1.0, 0.0, 0.0), UnitQuaternion::identity()).unwrap();
     /// let pose_in_new_frame = pose.in_frame(&new_frame);
     /// ```
-    pub fn in_frame(&self, target: &Frame) -> Result<Pose, CartesianTreeError> {
+    pub fn in_frame(&self, target: &Frame) -> Result<Self, CartesianTreeError> {
         let source_data = self
             .parent
             .upgrade()
@@ -114,10 +120,7 @@ impl Pose {
         let source = Frame { data: source_data };
         let ancestor = source
             .lca_with(target)
-            .ok_or(CartesianTreeError::NoCommonAncestor(
-                source.name(),
-                target.name(),
-            ))?;
+            .ok_or_else(|| CartesianTreeError::NoCommonAncestor(source.name(), target.name()))?;
 
         // Transformation from source frame up to ancestor
         let tf_up = source.walk_up_and_transform(&ancestor)? * self.transform_to_parent;
@@ -125,7 +128,7 @@ impl Pose {
         // Transformation from target frame up to ancestor (to be inverted)
         let tf_down = target.walk_up_and_transform(&ancestor)?;
 
-        Ok(Pose {
+        Ok(Self {
             parent: target.downgrade(),
             transform_to_parent: tf_down.inverse() * tf_up,
         })

{cartesian_tree-0.2.0 → cartesian_tree-0.2.1}/src/tree/traits.rs

@@ -59,6 +59,7 @@ pub trait Walking: HasParent<Node = Self> + NodeEquality + Clone {
     /// # Returns
     ///
     /// The root Node.
+    #[must_use]
     fn root(&self) -> Self {
         self.walk_up(self.depth()).unwrap_or_else(|| self.clone())
     }

cartesian_tree-0.2.0/.github/CODEOWNERS

@@ -1 +0,0 @@
-* @Kn0g

cartesian_tree-0.2.0/.github/workflows/ci.yaml

@@ -1,91 +0,0 @@
-name: CI
-
-on:
-  push:
-    branches:
-      - "**"
-  pull_request:
-    branches:
-      - "main"
-  workflow_dispatch:
-  workflow_call:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  test:
-    name: Test (${{ matrix.os }} / py${{ matrix.python-version }})
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, macos-latest]
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Rust toolchain
-        uses: dtolnay/rust-toolchain@stable
-        with:
-          components: rustfmt, clippy
-      
-      - name: Cache cargo
-        uses: actions/cache@v4
-        with:
-          path: |
-            ~/.cargo/registry
-            ~/.cargo/git
-            target
-          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-
-      - name: Cache pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**/pyproject.toml') }}
-
-      - name: Run Rust fmt
-        run: cargo fmt --check
-
-      - name: Run clippy
-        run: cargo clippy --all-features
-
-      - name: Run Rust tests
-        run: cargo test --verbose
-
-      - name: Setup Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-        
-      - name: Create Python Virtual Environment
-        run: python -m venv .venv
-
-      - name: Activate Virtual Environment and Install Python dependencies
-        run: |
-          source .venv/bin/activate
-          pip install .[dev]
-
-      - name: Run ruff linting
-        run: |
-          source .venv/bin/activate
-          ruff format --check python
-          ruff check python
-
-      - name: Run mypy
-        run: |
-          source .venv/bin/activate
-          mypy python
-          
-      - name: Build and install Python bindings
-        run: |
-          source .venv/bin/activate
-          maturin develop --release
-
-      - name: Run Python tests
-        run: |
-          source .venv/bin/activate
-          pytest python/tests
-          

cartesian_tree-0.2.0/.github/workflows/publish.yaml

@@ -1,61 +0,0 @@
-name: Publish
-
-on:
-  workflow_call:
-    secrets:
-      CARGO_REGISTRY_TOKEN:
-        required: true
-      PYPI_TOKEN:
-        required: true
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  publish-rust:
-    name: Publish Rust Crate
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install Rust toolchain
-        uses: dtolnay/rust-toolchain@stable
-      
-      - name: Publish to crates.io
-        run: cargo publish --token ${{ secrets.CARGO_REGISTRY_TOKEN }}
-
-  publish-python:
-    name: Publish Python Package
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, macos-latest]
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
-
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: Build and publish wheels
-        uses: messense/maturin-action@v1
-        with:
-          maturin-version: latest
-          command: publish
-          args: --username __token__ --password ${{ secrets.PYPI_TOKEN }} --skip-existing
-          manylinux: auto
-    
-  publish-sdist:
-    name: Publish sdist (source)
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - uses: actions/setup-python@v5
-        with:
-          python-version: "3.12"
-
-      - name: Build and publish sdist
-        run: maturin publish --sdist --username __token__ --password ${{ secrets.PYPI_TOKEN }} --skip-existing

cartesian_tree-0.2.0/.github/workflows/release.yaml

@@ -1,20 +0,0 @@
-name: Release Tag
-
-on:
-  push:
-    tags:
-      - "**"
-
-jobs:
-  ci:
-    name: Run CI Checks
-    uses: ./.github/workflows/ci.yaml
-
-  publish:
-    name: Publish Releases
-    needs: ci
-    if: success()
-    uses: ./.github/workflows/publish.yaml
-    secrets:
-      CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
-      PYPI_TOKEN: ${{ secrets.PYPI_TOKEN }}

cartesian_tree-0.2.0/.gitignore

@@ -1,25 +0,0 @@
-# Generated by Cargo
-# will have compiled files and executables
-debug/
-target/
-
-# These are backup files generated by rustfmt
-**/*.rs.bk
-
-# MSVC Windows builds of rustc generate these, which store debugging information
-*.pdb
-
-# RustRover
-#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
-#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
-#  and can be added to the global gitignore or merged into this file.  For a more nuclear
-#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
-
-# Python eco-system
-venv
-**/*/__pycache__
-**/*/*cartesian_tree.cpython-*.so
-
-# VS Code
-.vscode/

cartesian_tree-0.2.0/license-apache

@@ -1,176 +0,0 @@
-                              Apache License
-                        Version 2.0, January 2004
-                     http://www.apache.org/licenses/
-
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-
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-   direction or management of such entity, whether by contract or
-   otherwise, or (ii) ownership of fifty percent (50%) or more of the
-   outstanding shares, or (iii) beneficial ownership of such entity.
-
-   "You" (or "Your") shall mean an individual or Legal Entity
-   exercising permissions granted by this License.
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-   "Source" form shall mean the preferred form for making modifications,
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-END OF TERMS AND CONDITIONS

cartesian_tree-0.2.0/python/tests/__init__.py

@@ -1 +0,0 @@
-"""Tests."""

cartesian_tree-0.2.0/python/tests/test_lib.py

@@ -1,147 +0,0 @@
-"""Contains unit tests for the library."""
-
-from math import radians
-
-import pytest
-
-from cartesian_tree import RPY, Frame, Pose, Position, Quaternion
-
-
-def test_create_root_frame() -> None:
-    frame = Frame("root")
-    assert frame.name == "root"
-    assert frame.parent() is None
-    assert frame.depth == 0
-
-
-def test_tree_structure() -> None:
-    frame = Frame("root")
-    pos = Position(1.0, 2.0, 3.0)
-    quat = Quaternion(0.0, 0.0, 0.0, 1.0)
-    child = frame.add_child("child", pos, quat)
-    grandchild = child.add_child("grandchild", pos, quat)
-    assert grandchild.depth == 2  # noqa: PLR2004
-    parent = grandchild.parent()
-    assert parent is not None
-    assert parent.name == "child"
-    assert grandchild.root().name == "root"
-
-
-def test_add_child_frame_with_quaternion() -> None:
-    root = Frame("base")
-    pos = Position(1.0, 2.0, 3.0)
-    quat = Quaternion(0.0, 0.0, 0.0, 1.0)
-    child = root.add_child("child", pos, quat)
-
-    assert isinstance(child, Frame)
-    assert child.name == "child"
-    parent = child.parent()
-    assert parent is not None
-    assert parent.name == "base"
-    assert root.children()[0].name == "child"
-
-
-def test_add_child_frame_with_rpy() -> None:
-    root = Frame("world")
-    pos = Position(0.0, 0.0, 0.0)
-    rpy = RPY(0.0, 0.0, 0.0)
-    child = root.add_child("child_rpy", pos, rpy)
-
-    assert isinstance(child, Frame)
-    assert child.name == "child_rpy"
-
-    parent = child.parent()
-    assert parent is not None
-    assert parent.name == "world"
-
-
-def test_transformation_to_parent_and_update() -> None:
-    root = Frame("root")
-    pos = Position(1.0, 2.0, 3.0)
-    quat = Quaternion(0.0, 0.0, 0.0, 1.0)
-    child = root.add_child("child", pos, quat)
-
-    orig_pos, orig_quat = child.transformation_to_parent()
-    assert isinstance(orig_pos, Position)
-    assert isinstance(orig_quat, Quaternion)
-
-    # Update transformation
-    new_pos = Position(5.0, 6.0, 7.0)
-    new_quat = Quaternion(0.0, 0.7071, 0.0, 0.7071)
-    child.update_transformation(new_pos, new_quat)
-
-    upd_pos, upd_quat = child.transformation_to_parent()
-    assert upd_pos.to_tuple() == pytest.approx((5.0, 6.0, 7.0), abs=1e-5)
-    assert upd_quat.to_tuple() == pytest.approx((0.0, 0.7071, 0.0, 0.7071), abs=1e-5)
-
-
-def test_add_pose_and_update() -> None:
-    root = Frame("base")
-    pos = Position(1.0, 2.0, 3.0)
-    quat = Quaternion(0.0, 0.0, 0.0, 1.0)
-    pose = root.add_pose(pos, quat)
-
-    assert isinstance(pose, Pose)
-    p_pos, p_quat = pose.transformation()
-    assert p_pos.to_tuple() == pytest.approx((1.0, 2.0, 3.0), abs=1e-5)
-    assert p_quat.to_tuple() == pytest.approx((0.0, 0.0, 0.0, 1.0), abs=1e-5)
-
-    # Update the pose
-    new_pos = Position(4.0, 5.0, 6.0)
-    new_rpy = RPY(0.0, 0.0, 0.0)
-    pose.update(new_pos, new_rpy)
-    up_pos, _ = pose.transformation()
-    assert up_pos.to_tuple() == pytest.approx((4.0, 5.0, 6.0), abs=1e-5)
-
-    # Access frame
-    frame_of_pose = pose.frame()
-    assert frame_of_pose.name == "base"
-    frame_of_pose.add_child("child_of_pose_frame", pos, quat)
-    assert len(frame_of_pose.children()) == 1
-
-
-def test_pose_in_frame() -> None:
-    base = Frame("base")
-    frame_1 = base.add_child("frame1", Position(1, 1, 1), Quaternion(0, 0, 0, 1))
-    frame_2 = base.add_child("frame2", Position(-2, 0, 0), RPY(0, 0, radians(90)))
-
-    pose_in_frame1 = frame_1.add_pose(Position(0, 0, 0), Quaternion(0, 0, 0, 1))
-    transformed_pose = pose_in_frame1.in_frame(frame_2)
-
-    pos, quat = transformed_pose.transformation()
-
-    assert pos.to_tuple() == pytest.approx((1.0, -3.0, 1.0), abs=1e-5)
-    assert quat.to_rpy().to_tuple() == pytest.approx((0.0, 0.0, -radians(90)), abs=1e-5)
-
-
-def test_calibrate_frame() -> None:
-    base = Frame("base")
-    reference_frame = base.add_child("reference", Position(1, 1, 1), Quaternion(0, 0, 0, 1))
-    reference_pose = reference_frame.add_pose(Position(1, 1, 1), Quaternion(0, 0, 0, 1))
-
-    calibrated_frame = base.calibrate_child("calibrated", Position(0, 0, 0), RPY(0, 0, 0), reference_pose)
-
-    pos, quat = calibrated_frame.transformation_to_parent()
-
-    assert pos.to_tuple() == pytest.approx((2.0, 2.0, 2.0), abs=1e-5)
-    assert quat.to_tuple() == pytest.approx((0.0, 0.0, 0.0, 1.0), abs=1e-5)
-
-
-def test_serialization() -> None:
-    root = Frame("root")
-    child1 = root.add_child("child1", Position(1, 0, 0), Quaternion(0, 0, 0, 1))
-    child2 = child1.add_child("child2", Position(0, 1, 0), RPY(0, 0, radians(90)))
-    child2.add_pose(Position(0, 0, 1), Quaternion(0, 0, 0, 1))
-
-    json_str = root.to_json()
-
-    default_root = Frame("root")
-    default_child1 = default_root.add_child("child1", Position(2, 0, 0), Quaternion(0, 0, 0, 1))
-    default_child2 = default_child1.add_child("child2", Position(0, 2, 0), RPY(0, 0, radians(90)))
-
-    default_root.apply_config(json_str)
-
-    position, _ = default_child1.transformation_to_parent()
-    assert position.to_tuple() == pytest.approx((1.0, 0.0, 0.0), abs=1e-5)  # Updated back to '1'
-    position, _ = default_child2.transformation_to_parent()
-    assert position.to_tuple() == pytest.approx((0.0, 1.0, 0.0), abs=1e-5)  # Updated back to '1'