hazy-frames 0.1.0__tar.gz

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hazy_frames-0.1.0/.gitignore

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hazy_frames-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2025 Littie28
+
+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.

hazy_frames-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: hazy-frames
+Version: 0.1.0
+Summary: Hierarchical coordinate frames - crystal clear transforms
+Project-URL: Homepage, https://github.com/Littie28/hazy-frames
+Project-URL: Repository, https://github.com/Littie28/hazy-frames
+Project-URL: Issues, https://github.com/Littie28/hazy-frames/issues
+Author: Littie28
+License: MIT
+License-File: LICENSE
+Keywords: 3d,coordinate-systems,frames,geometry,transformations
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Mathematics
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.12
+Requires-Dist: numpy>=2.3.4
+Requires-Dist: scipy>=1.16.3
+Provides-Extra: examples
+Description-Content-Type: text/markdown
+
+# hazy-frames
+
+[![Python Version](https://img.shields.io/badge/python-3.12+-blue.svg)](https://www.python.org/downloads/)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+[![Code style: ruff](https://img.shields.io/badge/code%20style-ruff-000000.svg)](https://github.com/astral-sh/ruff)
+![Coverage](./.github/badges/coverage.svg)
+![Tests](https://img.shields.io/badge/tests-117%20passed-success)
+
+**Hierarchical coordinate frames - crystal clear transforms**
+
+A Python library for managing hierarchical reference frames and frame-aware geometric primitives with efficient transformation caching, inspired by [optiland](https://github.com/HarrisonKramer/optiland).
+
+## Features
+
+- **Hierarchical Frame System**: Build complex frame hierarchies with parent-child relationships
+- **Frame-Aware Primitives**: `Point` and `Vector` classes that carry frame information
+- **Automatic Transformations**: Transform primitives between any frames in the hierarchy
+- **Efficient Caching**: Transformation matrices are cached for performance
+- **Proper Geometric Semantics**: Type-safe arithmetic operations (e.g., Point - Point = Vector)
+- **Flexible Transformations**: Support for rotation (Euler angles, matrices), translation, and scaling
+- **Global Reference Frame**: Singleton global frame for world coordinates
+
+## Installation
+
+Install directly from GitHub:
+
+```bash
+pip install git+https://github.com/Littie28/hazy-frames.git
+```
+
+Or download the wheel from [releases](https://github.com/Littie28/hazy-frames/releases/latest):
+
+```bash
+pip install hazy_frames-0.1.0-py3-none-any.whl
+```
+
+For development:
+
+```bash
+# Clone the repository
+git clone https://github.com/Littie28/hazy-frames.git
+cd hazy-frames
+
+# Install with development dependencies
+uv sync --group dev
+```
+
+## Quick Start
+
+```python
+from hazy import Frame, Point, Vector
+
+# Create a frame hierarchy
+world = Frame.get_global()
+robot = Frame(parent=world, name="robot")
+robot.translate(x=5, y=0, z=0).rotate_euler(z=90, degrees=True)
+
+camera = robot.make_child(name="camera")  # different initialization methods
+camera.translate(x=0, y=0, z=1)
+
+# Create frame-aware primitives
+point_in_camera = Point(1, 0, 0, frame=camera)
+
+# Transform between frames
+point_in_world = point_in_camera.to_frame(world)
+point_in_robot = point_in_camera.to_frame(robot)
+
+print(f"Camera: {point_in_camera}")
+print(f"World: {point_in_world}")
+print(f"Robot: {point_in_robot}")
+```
+
+## Core Concepts
+
+### Frames
+
+Frames represent coordinate systems and can be organized hierarchically:
+
+```python
+# Create frames
+root = Frame.make_root(name="root")
+parent = root.make_child("parent")
+child = Frame(parent=parent, name="child")
+
+# Apply transformations (chainable)
+child.translate(x=10, y=5, z=0)
+child.rotate_euler(x=45, y=0, z=90, degrees=True)
+child.scale(2.0)  # uniform scaling
+child.scale((1.0, 2.0, 1.5))  # non-uniform scaling
+
+# Freeze frames to prevent modifications
+child.freeze()
+```
+
+Transformations are applied in **S->R->T order** (Scale, Rotation, Translation) when converting from local to parent coordinates.
+
+### Points and Vectors
+
+Points represent positions, vectors represent directions/displacements:
+
+```python
+# Create primitives
+origin = Point(0, 0, 0, frame=child)
+direction = Vector(1, 0, 0, frame=child)
+
+# Proper geometric arithmetic
+point_a = Point(1, 2, 3, frame=child)
+point_b = Point(4, 5, 6, frame=child)
+
+displacement = point_b - point_a  # Returns Vector
+new_point = point_a + displacement  # Returns Point
+
+# Vectors support additional operations
+vec = Vector(1, 0, 0, frame=child)
+vec.normalize()  # Normalize in-place
+magnitude = vec.magnitude
+
+# Cross product
+vec1 = Vector(1, 0, 0, frame=child)
+vec2 = Vector(0, 1, 0, frame=child)
+perpendicular = vec1.cross(vec2)  # Vector(0, 0, 1)
+```
+
+### Frame Transformations
+
+```python
+# Get transformation matrices
+T_to_parent = frame.transform_to_parent  # 4x4 matrix
+T_from_parent = frame.transform_from_parent  # Inverse
+T_to_global = frame.transform_to_global  # To world frame
+T_to_target = frame.transform_to(target_frame)  # To any frame
+
+# Transform primitives
+point_global = point_local.to_global()
+point_target = point_local.to_frame(target_frame)
+
+# Batch transformations for efficiency
+points_array = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
+transformed = frame.batch_transform_points_global(points_array)
+```
+
+### Unit Vectors and Origin
+
+Frames provide convenient accessors for unit vectors and origin:
+
+```python
+# Unit vectors in frame's local coordinates
+x_axis = frame.x_axis 
+y_axis = frame.y_axis
+z_axis = frame.z_axis
+
+# Unit vectors in global coordinates
+x_global = frame.x_axis_global
+y_global = frame.y_axis_global
+z_global = frame.z_axis_global
+
+# Frame origin
+origin_local = frame.origin  # Point(0, 0, 0) in frame
+origin_global = frame.origin_global  # Origin in global coords
+```
+
+## API Overview
+
+### Frame Class
+
+| Method/Property | Description |
+|----------------|-------------|
+| `translate(x, y, z)` | Add translation to frame |
+| `rotate_euler(x, y, z, seq, degrees)` | Add Euler angle rotation |
+| `rotate(matrix)` | Add rotation from 3x3 matrix |
+| `scale(factor)` | Add scaling (uniform or non-uniform) |
+| `freeze()`/`unfreeze()` | Prevent/allow modifications |
+| `transform_to_parent` | 4x4 transformation matrix to parent |
+| `transform_to_global` | 4x4 transformation matrix to global |
+| `transform_to(target)` | 4x4 transformation matrix to target frame |
+| `point(x, y, z)` | Create Point in this frame |
+| `vector(x, y, z)` | Create Vector in this frame |
+
+### Point Class
+
+| Method/Property | Description |
+|----------------|-------------|
+| `to_frame(target)` | Transform to target frame |
+| `to_global()` | Transform to global frame |
+| `x`, `y`, `z` | Coordinate components |
+| `Point + Vector` | Returns Point (displacement) |
+| `Point - Point` | Returns Vector (difference) |
+| `Point - Vector` | Returns Point (reverse displacement) |
+
+### Vector Class
+
+| Method/Property | Description |
+|----------------|-------------|
+| `to_frame(target)` | Transform to target frame |
+| `to_global()` | Transform to global frame |
+| `x`, `y`, `z` | Vector components |
+| `magnitude` | Vector length |
+| `normalize()` | Normalize to unit length (in-place) |
+| `cross(other)` | Cross product with another vector |
+| `Vector + Vector` | Returns Vector (sum) |
+| `Vector - Vector` | Returns Vector (difference) |
+| `Vector + Point` | Returns Point (displacement) |
+
+## Development
+
+### Running Tests
+
+```bash
+# Run all tests
+pytest
+
+# Run with coverage
+pytest --cov=src/hazy --cov-report=html
+
+# Run specific test markers
+pytest -m unit
+pytest -m integration
+
+# Watch mode for development
+pytest-watcher
+```
+## License
+
+ This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.
+
+## Contributing
+
+Contributions are welcome! Please feel free to submit a Pull Request.