dynamicalnodes 0.1__tar.gz → 0.1.2__tar.gz

dynamicalnodes-0.1.2/PKG-INFO

@@ -0,0 +1,80 @@
+Metadata-Version: 2.4
+Name: dynamicalnodes
+Version: 0.1.2
+Summary: dynamicalnodes is a Python library for modeling general control systems.
+Author-email: Nehal Singh Mangat <nehalsinghmangat.software@gmail.com>
+License-Expression: MIT
+Project-URL: Homepage, https://github.com/nehalsinghmangat/dynamicalnodes
+Project-URL: Documentation, https://nehalsinghmangat.github.io/dynamicalnodes
+Project-URL: Issues, https://github.com/nehalsinghmangat/dynamicalnodes/issues
+Keywords: control,estimation,ros2
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries
+Requires-Python: >=3.12
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=1.24
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0; extra == "dev"
+Requires-Dist: pytest-doctestplus>=1.0.0; extra == "dev"
+Requires-Dist: flake8>=6.0; extra == "dev"
+Requires-Dist: black>=24.0; extra == "dev"
+Requires-Dist: isort>=6.0; extra == "dev"
+Requires-Dist: mypy>=1.0; extra == "dev"
+Requires-Dist: build>=0.10; extra == "dev"
+Requires-Dist: twine>=4.0; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: sphinx>=8.0; extra == "docs"
+Requires-Dist: sphinx-rtd-theme>=1.3; extra == "docs"
+Requires-Dist: sphinx-copybutton>=0.5; extra == "docs"
+Requires-Dist: myst_nb; extra == "docs"
+Requires-Dist: sphinx-autodoc-typehints>=1.24.0; extra == "docs"
+Requires-Dist: matplotlib>=3.9; extra == "docs"
+Requires-Dist: scipy>=1.11; extra == "docs"
+Requires-Dist: jupyter; extra == "docs"
+Requires-Dist: jaxtyping>=0.2; extra == "docs"
+Requires-Dist: beartype>=0.15; extra == "docs"
+Dynamic: license-file
+
+# dynamicalnodes: Control Systems on ROS 2
+
+> _"Give me a [control system] long enough and a [computer] on which to place it, and I shall move the world."_ - Archimedes 
+
+**dynamicalnodes** is a Python development framework that bridges the gap between control systems and their implementation onto ROS 2. Designed for hobbyists, students, and academics alike, this framework won't cure cancer, but it can do the next best thing: make robotics easier.
+
+To get started, or to explore what this framework has to offer, click here: [dynamicalnodes Documentation](https://nehalsinghmangat.github.io/dynamicalnodes).
+
+For a 22 second video describing this framework's intended workflow for, click here: [SAIL 2025 -- Presenting dynamicalnodes](https://youtu.be/5GbVHo6QZrw).
+
+---
+## Turtlebot: Whiteboard -> Python -> ROS -> World
+<table>
+  <tr>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlebot.svg" alt="TurtleBot Overview" width="400"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_software.gif" alt="Turtle Software" width="200"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_simulation.gif" alt="Turtle Simulation" width="200"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_hardware.gif" alt="Turtle Hardware" width="200"/><br/>
+    </td>
+  </tr>
+</table>
+
+<p align="center">
+  <img src="docs/source/_static/figure_turtlebot_pipeline/labels_for_steps_from_theory_to_hardware.png" alt="Step Labels" width="800"/>
+</p>
+
+
+
+
+
+

dynamicalnodes-0.1.2/README.md

@@ -0,0 +1,38 @@
+# dynamicalnodes: Control Systems on ROS 2
+
+> _"Give me a [control system] long enough and a [computer] on which to place it, and I shall move the world."_ - Archimedes 
+
+**dynamicalnodes** is a Python development framework that bridges the gap between control systems and their implementation onto ROS 2. Designed for hobbyists, students, and academics alike, this framework won't cure cancer, but it can do the next best thing: make robotics easier.
+
+To get started, or to explore what this framework has to offer, click here: [dynamicalnodes Documentation](https://nehalsinghmangat.github.io/dynamicalnodes).
+
+For a 22 second video describing this framework's intended workflow for, click here: [SAIL 2025 -- Presenting dynamicalnodes](https://youtu.be/5GbVHo6QZrw).
+
+---
+## Turtlebot: Whiteboard -> Python -> ROS -> World
+<table>
+  <tr>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlebot.svg" alt="TurtleBot Overview" width="400"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_software.gif" alt="Turtle Software" width="200"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_simulation.gif" alt="Turtle Simulation" width="200"/><br/>
+    </td>
+    <td align="center">
+      <img src="docs/source/_static/figure_turtlebot_pipeline/turtlesim_hardware.gif" alt="Turtle Hardware" width="200"/><br/>
+    </td>
+  </tr>
+</table>
+
+<p align="center">
+  <img src="docs/source/_static/figure_turtlebot_pipeline/labels_for_steps_from_theory_to_hardware.png" alt="Step Labels" width="800"/>
+</p>
+
+
+
+
+
+

{dynamicalnodes-0.1 → dynamicalnodes-0.1.2}/pyproject.toml

@@ -7,7 +7,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "dynamicalnodes"
-version = "0.1"
+version = "0.1.2"
 description = "dynamicalnodes is a Python library for modeling general control systems."
 readme = "README.md"
 requires-python = ">=3.12"
@@ -16,6 +16,14 @@ authors = [
   { name = "Nehal Singh Mangat", email = "nehalsinghmangat.software@gmail.com" }
 ]
 keywords = ["control", "estimation", "ros2"]
+classifiers = [
+  "Development Status :: 3 - Alpha",
+  "Intended Audience :: Science/Research",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3.12",
+  "Topic :: Scientific/Engineering",
+  "Topic :: Software Development :: Libraries",
+]
 dependencies = [
   "numpy>=1.24",
 ]
@@ -35,21 +43,32 @@ dev = [
 docs = [
   "sphinx>=8.0",
   "sphinx-rtd-theme>=1.3",
+  "sphinx-copybutton>=0.5",
   "myst_nb",
   "sphinx-autodoc-typehints>=1.24.0",
-  "matplotlib>=3.7",
+  "matplotlib>=3.9",
   "scipy>=1.11",
   "jupyter",
+  "jaxtyping>=0.2",
+  "beartype>=0.15",
 ]
 
 [project.urls]
 Homepage = "https://github.com/nehalsinghmangat/dynamicalnodes"
 Documentation = "https://nehalsinghmangat.github.io/dynamicalnodes"
+Issues = "https://github.com/nehalsinghmangat/dynamicalnodes/issues"
 
 [tool.pytest.ini_options]
 addopts = "--doctest-modules"
 doctest_optionflags = ["NORMALIZE_WHITESPACE", "ELLIPSIS"]
 
+[tool.isort]
+profile = "black"
+
+[tool.mypy]
+python_version = "3.12"
+strict = true
+
 [tool.setuptools]
 package-dir = {"" = "src"}
 

dynamicalnodes-0.1.2/src/dynamicalnodes/__init__.py

@@ -0,0 +1,29 @@
+"""
+dynamicalnodes: A modular Python framework for dynamical systems, estimation, and ROS2 integration.
+"""
+
+from .dynamical_system import DynamicalSystem
+from .rosnode import ROSNode
+
+# Lazy import — requires a live ROS2 installation
+_ROS2_MODULES = {
+    "ros2py_py2ros": ("ros2py_py2ros", None),
+}
+
+
+def __getattr__(name):
+    if name in _ROS2_MODULES:
+        module_name, attr = _ROS2_MODULES[name]
+        try:
+            import importlib
+            mod = importlib.import_module(f".{module_name}", package=__name__)
+            return mod if attr is None else getattr(mod, attr)
+        except ImportError as e:
+            raise ImportError(
+                f"{name} requires ROS2 dependencies. Install with: pip install dynamicalnodes[ros2]\n"
+                f"Original error: {e}"
+            ) from e
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+
+
+__all__ = ["DynamicalSystem", "ROSNode"]

{dynamicalnodes-0.1 → dynamicalnodes-0.1.2}/src/dynamicalnodes/dynamical_system.py

@@ -186,6 +186,11 @@ class DynamicalSystem:
             Keyword arguments passed to f and h. Each function receives
             only the kwargs it declares in its signature via `_smart_call`.
 
+            A reserved key ``_state`` may be passed to inject the current
+            state without knowing ``f``'s first parameter name. It is
+            removed from kwargs before dispatch and inserted under the
+            correct name automatically.
+
         Returns
         -------
         Any

{dynamicalnodes-0.1 → dynamicalnodes-0.1.2}/src/dynamicalnodes/ros2py_py2ros.py

@@ -24,6 +24,7 @@ from turtlesim.msg import Pose
 from nav_msgs.msg import Odometry, Path
 from sensor_msgs.msg import (
     Imu,
+    NavSatFix,
     LaserScan,
     Image,
     CompressedImage,
@@ -558,6 +559,42 @@ def py2ros_imu(arr: NDArray) -> Imu:
     return msg
 
 
+# ---------------------------------------------------------------------------
+# sensor_msgs/NavSatFix  <->  np.ndarray(3,)  [latitude, longitude, altitude]
+# ---------------------------------------------------------------------------
+
+def ros2py_nav_sat_fix(msg: NavSatFix) -> NDArray:
+    """
+    NavSatFix → [latitude, longitude, altitude]
+
+    >>> from sensor_msgs.msg import NavSatFix
+    >>> msg = NavSatFix()
+    >>> msg.latitude, msg.longitude, msg.altitude = 37.5, -122.0, 10.0
+    >>> ros2py_nav_sat_fix(msg).tolist()
+    [37.5, -122.0, 10.0]
+    """
+    return np.array([msg.latitude, msg.longitude, msg.altitude], dtype=float)
+
+
+def py2ros_nav_sat_fix(arr: NDArray) -> NavSatFix:
+    """
+    [latitude, longitude, altitude] → NavSatFix
+
+    >>> import numpy as np
+    >>> msg = py2ros_nav_sat_fix(np.array([37.5, -122.0, 10.0]))
+    >>> msg.latitude, msg.longitude, msg.altitude
+    (37.5, -122.0, 10.0)
+    """
+    flat = np.asarray(arr, dtype=float).ravel()
+    if flat.size != 3:
+        raise ValueError(f"py2ros_nav_sat_fix expected length 3, got {flat.size}")
+    msg = NavSatFix()
+    msg.latitude = float(flat[0])
+    msg.longitude = float(flat[1])
+    msg.altitude = float(flat[2])
+    return msg
+
+
 # ---------------------------------------------------------------------------
 # nav_msgs/Odometry  <->  np.ndarray(13,)
 # (pose + twist; covariances ignored)
@@ -907,9 +944,9 @@ def py2ros_uint8_multiarray(arr: NDArray) -> UInt8MultiArray:
 # std_msgs/Float64  <->  scalar float (as 1D array)
 # ---------------------------------------------------------------------------
 
-def ros2py_float64(msg: Float64) -> NDArray:
-    """Convert Float64 message to 1D numpy array with single element."""
-    return np.array([msg.data], dtype=float)
+def ros2py_float64(msg: Float64) -> float:
+    """Convert Float64 message to Python float."""
+    return float(msg.data)
 
 
 def py2ros_float64(arr: NDArray) -> Float64:
@@ -994,6 +1031,7 @@ ROS2PY_DEFAULT = {
     AccelStamped: ros2py_accel_stamped,
     Vector3Stamped: ros2py_vector3_stamped,
     Imu: ros2py_imu,
+    NavSatFix: ros2py_nav_sat_fix,
     Odometry: ros2py_odometry,
     Path: ros2py_path,
     JointState: ros2py_joint_state,
@@ -1019,6 +1057,7 @@ PY2ROS_DEFAULT = {
     AccelStamped: py2ros_accel_stamped,
     Vector3Stamped: py2ros_vector3_stamped,
     Imu: py2ros_imu,
+    NavSatFix: py2ros_nav_sat_fix,
     Odometry: py2ros_odometry,
     Path: py2ros_path,
     JointState: py2ros_joint_state,