codac4matlab 2.0.0.dev25__cp314-cp314-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

codac4matlab/tests/test_transformations.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+
+#  Codac tests
+# ----------------------------------------------------------------------------
+#  \date       2024
+#  \author     Simon Rohou
+#  \copyright  Copyright 2024 Codac Team
+#  \license    GNU Lesser General Public License (LGPL)
+
+import unittest
+from codac import *
+import sys
+
+class TestTransformations(unittest.TestCase):
+
+  def test_affine_transformation(self):
+
+    # Building the src trajectory analytically
+    
+    t = ScalarVar()
+    f_src = AnalyticFunction([t], [
+      cos(2*t)+0.1*cos(10*t),
+      2*sin(t)+0.1*sin(10*t)
+    ])
+
+    src = AnalyticTraj(f_src,[-1,3]).sampled(0.01)
+
+    # The dst trajectory is obtained analytically with a
+    # transformation described by the parameters:
+
+    a = PI + PI/3 # rotation angle
+    b = 2.5 # scaling
+    T = Vector([ -3.2, 2.5 ]) # translation
+    f_dst = AnalyticFunction([t], [
+      b*cos(a)*f_src(t)[0]-b*sin(a)*f_src(t)[1] + T[0] + 0.05*cos(100*t),
+      b*sin(a)*f_src(t)[0]+b*cos(a)*f_src(t)[1] + T[1] + 0.05*sin(100*t)
+    ])
+
+    dst = AnalyticTraj(f_dst,[-1,3]).sampled(0.01)
+
+    # Computing the transformation
+
+    tr = affine_transformation(src, dst)
+
+    # Reconstructing the dst trajectory using the estimated transformation
+
+    dst_estim = SampledVectorTraj()
+    for ti,src_i in src:
+      dst_estim.set(tr*src_i, ti)
+
+    scale = tr.linear().col(0).norm()
+    rotation_matrix = tr.linear() / scale
+    rotation_angle = atan2(rotation_matrix(1, 0), rotation_matrix(0, 0))
+    translation = tr.translation()
+
+    self.assertTrue(Approx(scale,1e-3) == b)
+    self.assertTrue(Approx(rotation_angle,1e-3) == (a-2*PI))
+    self.assertTrue(Approx(Vector(translation),1e-3) == T)
+
+if __name__ ==  '__main__':
+  unittest.main()

codac4matlab/tests/test_trunc.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+
+#  Codac tests
+# ----------------------------------------------------------------------------
+#  \date       2024
+#  \author     Simon Rohou
+#  \copyright  Copyright 2024 Codac Team
+#  \license    GNU Lesser General Public License (LGPL)
+
+import unittest
+from codac import *
+import sys
+
+class TestTrunc(unittest.TestCase):
+
+  def test_trunc(self):
+
+    l = next_float(-oo); u = prev_float(oo)
+    self.assertTrue(trunc(0) == 0)
+    self.assertTrue(trunc(-oo) == l)
+    self.assertTrue(trunc(oo) == u)
+    self.assertTrue(untrunc(l) == -oo)
+    self.assertTrue(untrunc(u) == oo)
+    self.assertTrue(untrunc(0) == 0)
+    
+    # trunc matrix types
+
+    self.assertTrue(trunc(IntervalMatrix([
+        [[-1,1],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[-1,1],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(trunc(IntervalMatrix([
+        [[-1,oo],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[-1,u],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(trunc(IntervalMatrix([
+        [[-oo,oo],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[l,u],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(trunc(IntervalMatrix([
+        [[-oo,oo],[-oo,oo]],
+        [[-oo,oo],[-oo,oo]]
+      ])) == IntervalMatrix([
+        [[l,u],[l,u]],
+        [[l,u],[l,u]]
+      ]))
+    
+    # untrunc matrix types
+
+    self.assertTrue(untrunc(IntervalMatrix([
+        [[-1,1],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[-1,1],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(untrunc(IntervalMatrix([
+        [[-1,u],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[-1,oo],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(untrunc(IntervalMatrix([
+        [[l,u],[-2,2]],
+        [[-3,3],[-4,4]]
+      ])) == IntervalMatrix([
+        [[-oo,oo],[-2,2]],
+        [[-3,3],[-4,4]]
+      ]))
+    
+    self.assertTrue(untrunc(IntervalMatrix([
+        [[l,u],[l,u]],
+        [[l,u],[l,u]]
+      ])) == IntervalMatrix([
+        [[-oo,oo],[-oo,oo]],
+        [[-oo,oo],[-oo,oo]]
+      ]))
+
+if __name__ ==  '__main__':
+  unittest.main()

codac4matlab/unsupported/__init__.py

@@ -0,0 +1 @@
+from codac4matlab._unsupported import *

codac4matlab/version.py

@@ -0,0 +1 @@
+__version__="2.0.0"

codac4matlab-2.0.0.dev25.dist-info/METADATA

@@ -0,0 +1,23 @@
+Metadata-Version: 2.4
+Name: codac4matlab
+Version: 2.0.0.dev25
+Summary: Codac is a library providing tools for constraint programming over reals and trajectories.
+Home-page: http://codac.io
+Author: Simon Rohou, Benoit Desrochers, Fabrice Le Bars
+Author-email: simon.rohou@ensta.fr
+License: LGPLv3+
+Classifier: Development Status :: 3 - Alpha
+Classifier: Topic :: Scientific/Engineering :: Mathematics
+Classifier: License :: OSI Approved :: GNU Lesser General Public License v3 or later (LGPLv3+)
+Requires-Dist: pip>=19.0.0
+Requires-Dist: vibes
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: home-page
+Dynamic: license
+Dynamic: requires-dist
+Dynamic: summary
+
+Codac is a library providing tools for constraint programming over reals and trajectories.

codac4matlab-2.0.0.dev25.dist-info/RECORD

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codac4matlab-2.0.0.dev25.dist-info/WHEEL

@@ -0,0 +1,6 @@
+Wheel-Version: 1.0
+Generator: setuptools (80.10.2)
+Root-Is-Purelib: false
+Tag: cp314-cp314-manylinux_2_26_aarch64
+Tag: cp314-cp314-manylinux_2_28_aarch64
+

codac4matlab-2.0.0.dev25.dist-info/top_level.txt

@@ -0,0 +1 @@
+codac4matlab