imt-ring 1.6.8__tar.gz → 1.6.9__tar.gz

{imt_ring-1.6.8 → imt_ring-1.6.9}/PKG-INFO

@@ -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 → imt_ring-1.6.9}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.8"
+version = "1.6.9"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.8 → imt_ring-1.6.9}/src/imt_ring.egg-info/PKG-INFO

@@ -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 → imt_ring-1.6.9}/src/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.