imt-ring 1.6.8__py3-none-any.whl → 1.6.9__py3-none-any.whl

{imt_ring-1.6.8.dist-info → imt_ring-1.6.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.8
+Version: 1.6.9
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.6.8.dist-info → imt_ring-1.6.9.dist-info}/RECORD

@@ -1,6 +1,6 @@
 ring/__init__.py,sha256=k7tL-XgggUwWxHCXyv60rQn-OcXHPg82QcIUkKLEd-c,5057
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
-ring/base.py,sha256=BGAJE3PSOUnTHte4UesJc1J7MQraIEiVpStkhrgXhaI,33245
+ring/base.py,sha256=MkkziQx01sdMOpB8MFUDFgFlZUrXCFjpb8hS9yKHUyM,33751
 ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
@@ -83,7 +83,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=oGC7kh19s5zvmnUvWy8B3fBl9loVU58ppz91osk2m3w,6550
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.8.dist-info/METADATA,sha256=FxO8BZbMRGagmYW1cQCHPuUIuiXxsIr8F-zlBkBVHNQ,3820
-imt_ring-1.6.8.dist-info/WHEEL,sha256=HiCZjzuy6Dw0hdX5R3LCFPDmFS4BWl8H-8W39XfmgX4,91
-imt_ring-1.6.8.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.8.dist-info/RECORD,,
+imt_ring-1.6.9.dist-info/METADATA,sha256=kFg-Ht8PsdnYA5lvEQ-KgMxlQSqiX_PtP8M8Q0vjVag,3820
+imt_ring-1.6.9.dist-info/WHEEL,sha256=Mdi9PDNwEZptOjTlUcAth7XJDFtKrHYaQMPulZeBCiQ,91
+imt_ring-1.6.9.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.9.dist-info/RECORD,,

{imt_ring-1.6.8.dist-info → imt_ring-1.6.9.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (72.2.0)
+Generator: setuptools (73.0.1)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

ring/base.py

@@ -590,12 +590,14 @@ class System(_Base):
 
         return sys
 
-    def findall_imus(self) -> list[str]:
-        return [name for name in self.link_names if name[:3] == "imu"]
+    def findall_imus(self, names: bool = True) -> list[str] | list[int]:
+        bodies = [name for name in self.link_names if name[:3] == "imu"]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
-    def findall_segments(self) -> list[str]:
-        imus = self.findall_imus()
-        return [name for name in self.link_names if name not in imus]
+    def findall_segments(self, names: bool = True) -> list[str] | list[int]:
+        imus = self.findall_imus(names=True)
+        bodies = [name for name in self.link_names if name not in imus]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
     def _bodies_indices_to_bodies_name(self, bodies: list[int]) -> list[str]:
         return [self.idx_to_name(i) for i in bodies]
@@ -615,6 +617,11 @@ class System(_Base):
         bodies = [i for i, _typ in enumerate(self.link_types) if _typ == typ]
         return self._bodies_indices_to_bodies_name(bodies) if names else bodies
 
+    def children(self, name: str, names: bool = False) -> list[int] | list[str]:
+        p = self.name_to_idx(name)
+        bodies = [i for i in range(self.num_links()) if self.link_parents[i] == p]
+        return bodies if (not names) else [self.idx_to_name(i) for i in bodies]
+
     def scan(self, f: Callable, in_types: str, *args, reverse: bool = False):
         """Scan `f` along each link in system whilst carrying along state.