mini-quadlib 0.1.2__tar.gz

mini_quadlib-0.1.2/LICENSE

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+MIT License
+
+Copyright (c) 2026 Sigma Pi
+
+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.

mini_quadlib-0.1.2/MANIFEST.in

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+# Include documentation and license
+include ../README.md
+include ../LICENSE
+
+# Include shared library
+include mini_quadlib/*.so
+include mini_quadlib/libmini_quadlib.so
+recursive-include mini_quadlib *.so
+
+# Include type hints marker
+include mini_quadlib/py.typed

mini_quadlib-0.1.2/PKG-INFO

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+Metadata-Version: 2.4
+Name: mini-quadlib
+Version: 0.1.2
+Summary: Python bindings for mini-quadlib: A lightweight C library for quadrotor control
+Author-email: Chengyu Yang <chengyuy520@gmail.com>
+License: MIT
+Project-URL: Homepage, https://github.com/sigma-pi/mini-quadlib
+Project-URL: Repository, https://github.com/sigma-pi/mini-quadlib
+Project-URL: Documentation, https://github.com/sigma-pi/mini-quadlib#readme
+Project-URL: Issues, https://github.com/sigma-pi/mini-quadlib/issues
+Keywords: robotics,quadrotor,drone,control,aerospace,geometric-control,L1-adaptive
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: C
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Scientific/Engineering :: Physics
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=1.19.0
+Provides-Extra: dev
+Requires-Dist: pytest>=6.0; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: black; extra == "dev"
+Requires-Dist: flake8; extra == "dev"
+Dynamic: license-file
+
+# Mini-QuadLib
+
+A lightweight C library for quadrotor control systems, with Python bindings.
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+## Features
+
+- **Geometric Controller** - SE(3) geometric control for quadrotors
+- **L1 Adaptive Control** - Robust adaptive augmentation for disturbance rejection
+- **Robotics Utilities** - Coordinate transforms, frame conversions, rotation representations
+- **Lightweight** - Requires minimal dependencies
+- **Cross-platform** - C library works anywhere, Python bindings for Linux
+
+## Repository Structure
+
+```
+mini-quadlib/
+├── include/
+│   └── mini_quadlib.h      # Main C header (all API documentation here)
+├── src/
+│   └── *.c                 # C implementation
+├── python/
+│   └── mini_quadlib/       # Python package
+├── build/                  # Build output (generated)
+├── CMakeLists.txt
+└── README.md
+```
+
+---
+
+## C Library
+
+### Building (Linux)
+
+#### Prerequisites
+
+- CMake >= 3.8
+- GCC or Clang
+
+#### Build Static Library
+
+```bash
+# Clone the repository
+git clone https://github.com/sigma-pi/mini-quadlib.git
+cd mini-quadlib
+
+# Create build directory
+mkdir build && cd build
+
+# Configure and build
+cmake ..
+make -j$(nproc)
+```
+
+This produces:
+- `build/libmini_quadlib.a` - Static library
+
+#### Build Shared Library (for Python bindings)
+
+```bash
+# Create a virtual environment before building
+conda create --name mini_quadlib
+conda activate mini_quadlib
+
+# Build
+cd /path/to/mini-quadlib
+mkdir -p build && cd build
+cmake .. -DBUILD_PYTHON=ON
+make -j$(nproc)
+
+# Copy .so to package directory
+cp libmini_quadlib.so ../python/mini_quadlib/
+
+# Install
+cd ../python
+pip install -e .
+```
+
+This produces:
+- `build/libmini_quadlib.so` - Shared library
+
+### Using the C Library
+
+#### Include in Your Project
+
+```c
+#include "mini_quadlib.h"
+
+int main() {
+  // Get library version
+  printf("mini-quadlib version: %s\n", quadlib_version());
+  
+  // Create state and setpoint
+  state_t current_state = {
+      .pos = {0.0f, 0.0f, 0.0f},
+      .vel = {0.0f, 0.0f, 0.0f},
+      .quat = {1.0f, 0.0f, 0.0f, 0.0f},  // w, x, y, z
+      .omega = {0.0f, 0.0f, 0.0f}
+  };
+  
+  setpoint_t desired = {
+      .pos = {1.0f, 0.0f, -1.0f},  // NED frame
+      .vel = {0.0f, 0.0f, 0.0f},
+      .acc = {0.0f, 0.0f, 0.0f},
+      .jerk = {0.0f, 0.0f, 0.0f},
+      .snap = {0.0f, 0.0f, 0.0f},
+      .yaw = 0.0f,
+      .yaw_dot = 0.0f,
+      .yaw_ddot = 0.0f
+  };
+  
+  // Controller parameters
+  geometric_params_t ctrl_params = {
+      .k_p = {1.0f, 1.0f, 2.0f},
+      .k_v = {0.5f, 0.5f, 1.0f},
+      .k_R = {1.0f, 1.0f, 1.0f},
+      .k_W = {0.1f, 0.1f, 0.1f}
+  };
+  
+  quadx_params_t quad_params = {
+      .mass = 1.0f,
+      .inertia = {0.01f, 0.01f, 0.02f}
+  };
+  
+  // Compute control
+  control_4f_t output;
+  quadlib_result_t result = geometric_control_fM_fullparam(
+      &output, &current_state, &desired, &ctrl_params, &quad_params
+  );
+  
+  if (result == QUADLIB_SUCCESS) {
+      printf("Thrust: %.2f, Moments: [%.2f, %.2f, %.2f]\n",
+             output.u1, output.u2, output.u3, output.u4);
+  }
+  
+  return 0;
+}
+```
+
+#### Compile Your Program
+
+```bash
+gcc -I/path/to/mini-quadlib/include \
+  -L/path/to/mini-quadlib/build \
+  your_program.c -lmini_quadlib -lm -o your_program
+```
+
+### C API Reference
+
+All C API documentation is in the header file:
+
+📖 **[include/mini_quadlib.h](include/mini_quadlib.h)**
+
+Key sections:
+- **Data Structures** - `vector3f_t`, `quaternion4f_t`, `state_t`, `setpoint_t`, etc.
+- **Geometric Control** - `geometric_control_fM_fullparam()`
+- **L1 Adaptive Control** - `l1_adaptive_control_fullparam()`
+- **Coordinate Transforms** - `enu_to_ned()`, `ned_to_enu()`, `coordinate_transform_omni()`
+- **Rotation Utilities** - Quaternion/Euler/RotationMatrix conversions
+
+---
+
+## Python Bindings
+
+### Quick Install (from source)
+
+```bash
+cd mini-quadlib
+
+# Build C library first
+mkdir build && cd build
+cmake .. -DBUILD_PYTHON=ON
+make -j$(nproc)
+cd ..
+
+# Install Python package
+cd python
+pip install -e .
+```
+
+### Run Basic Tests
+```bash
+python ./python/tests/test_python_api.py
+```
+
+### Quick Test
+
+```python
+import mini_quadlib as mql
+import numpy as np
+
+print(f"Version: {mql.get_version()}")
+
+# Create a quaternion
+q = mql.Quaternion(0.707, 0.0, 0.0, 0.707)
+print(f"Quaternion: {q}")
+
+# Coordinate transform
+ned = np.array([1.0, 2.0, 3.0])
+enu = mql.ned_to_enu(ned)
+print(f"NED {ned} -> ENU {enu}")
+```
+
+For detailed Python documentation, see:
+
+📖 **[python/README.md](python/README.md)**
+
+---
+
+## License
+
+MIT License - see [LICENSE](LICENSE) for details.
+
+## Author
+
+Chengyu Yang (chengyuy520@gmail.com)

mini_quadlib-0.1.2/README.md

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+# Mini-QuadLib
+
+A lightweight C library for quadrotor control systems, with Python bindings.
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+## Features
+
+- **Geometric Controller** - SE(3) geometric control for quadrotors
+- **L1 Adaptive Control** - Robust adaptive augmentation for disturbance rejection
+- **Robotics Utilities** - Coordinate transforms, frame conversions, rotation representations
+- **Lightweight** - Requires minimal dependencies
+- **Cross-platform** - C library works anywhere, Python bindings for Linux
+
+## Repository Structure
+
+```
+mini-quadlib/
+├── include/
+│   └── mini_quadlib.h      # Main C header (all API documentation here)
+├── src/
+│   └── *.c                 # C implementation
+├── python/
+│   └── mini_quadlib/       # Python package
+├── build/                  # Build output (generated)
+├── CMakeLists.txt
+└── README.md
+```
+
+---
+
+## C Library
+
+### Building (Linux)
+
+#### Prerequisites
+
+- CMake >= 3.8
+- GCC or Clang
+
+#### Build Static Library
+
+```bash
+# Clone the repository
+git clone https://github.com/sigma-pi/mini-quadlib.git
+cd mini-quadlib
+
+# Create build directory
+mkdir build && cd build
+
+# Configure and build
+cmake ..
+make -j$(nproc)
+```
+
+This produces:
+- `build/libmini_quadlib.a` - Static library
+
+#### Build Shared Library (for Python bindings)
+
+```bash
+# Create a virtual environment before building
+conda create --name mini_quadlib
+conda activate mini_quadlib
+
+# Build
+cd /path/to/mini-quadlib
+mkdir -p build && cd build
+cmake .. -DBUILD_PYTHON=ON
+make -j$(nproc)
+
+# Copy .so to package directory
+cp libmini_quadlib.so ../python/mini_quadlib/
+
+# Install
+cd ../python
+pip install -e .
+```
+
+This produces:
+- `build/libmini_quadlib.so` - Shared library
+
+### Using the C Library
+
+#### Include in Your Project
+
+```c
+#include "mini_quadlib.h"
+
+int main() {
+  // Get library version
+  printf("mini-quadlib version: %s\n", quadlib_version());
+  
+  // Create state and setpoint
+  state_t current_state = {
+      .pos = {0.0f, 0.0f, 0.0f},
+      .vel = {0.0f, 0.0f, 0.0f},
+      .quat = {1.0f, 0.0f, 0.0f, 0.0f},  // w, x, y, z
+      .omega = {0.0f, 0.0f, 0.0f}
+  };
+  
+  setpoint_t desired = {
+      .pos = {1.0f, 0.0f, -1.0f},  // NED frame
+      .vel = {0.0f, 0.0f, 0.0f},
+      .acc = {0.0f, 0.0f, 0.0f},
+      .jerk = {0.0f, 0.0f, 0.0f},
+      .snap = {0.0f, 0.0f, 0.0f},
+      .yaw = 0.0f,
+      .yaw_dot = 0.0f,
+      .yaw_ddot = 0.0f
+  };
+  
+  // Controller parameters
+  geometric_params_t ctrl_params = {
+      .k_p = {1.0f, 1.0f, 2.0f},
+      .k_v = {0.5f, 0.5f, 1.0f},
+      .k_R = {1.0f, 1.0f, 1.0f},
+      .k_W = {0.1f, 0.1f, 0.1f}
+  };
+  
+  quadx_params_t quad_params = {
+      .mass = 1.0f,
+      .inertia = {0.01f, 0.01f, 0.02f}
+  };
+  
+  // Compute control
+  control_4f_t output;
+  quadlib_result_t result = geometric_control_fM_fullparam(
+      &output, &current_state, &desired, &ctrl_params, &quad_params
+  );
+  
+  if (result == QUADLIB_SUCCESS) {
+      printf("Thrust: %.2f, Moments: [%.2f, %.2f, %.2f]\n",
+             output.u1, output.u2, output.u3, output.u4);
+  }
+  
+  return 0;
+}
+```
+
+#### Compile Your Program
+
+```bash
+gcc -I/path/to/mini-quadlib/include \
+  -L/path/to/mini-quadlib/build \
+  your_program.c -lmini_quadlib -lm -o your_program
+```
+
+### C API Reference
+
+All C API documentation is in the header file:
+
+📖 **[include/mini_quadlib.h](include/mini_quadlib.h)**
+
+Key sections:
+- **Data Structures** - `vector3f_t`, `quaternion4f_t`, `state_t`, `setpoint_t`, etc.
+- **Geometric Control** - `geometric_control_fM_fullparam()`
+- **L1 Adaptive Control** - `l1_adaptive_control_fullparam()`
+- **Coordinate Transforms** - `enu_to_ned()`, `ned_to_enu()`, `coordinate_transform_omni()`
+- **Rotation Utilities** - Quaternion/Euler/RotationMatrix conversions
+
+---
+
+## Python Bindings
+
+### Quick Install (from source)
+
+```bash
+cd mini-quadlib
+
+# Build C library first
+mkdir build && cd build
+cmake .. -DBUILD_PYTHON=ON
+make -j$(nproc)
+cd ..
+
+# Install Python package
+cd python
+pip install -e .
+```
+
+### Run Basic Tests
+```bash
+python ./python/tests/test_python_api.py
+```
+
+### Quick Test
+
+```python
+import mini_quadlib as mql
+import numpy as np
+
+print(f"Version: {mql.get_version()}")
+
+# Create a quaternion
+q = mql.Quaternion(0.707, 0.0, 0.0, 0.707)
+print(f"Quaternion: {q}")
+
+# Coordinate transform
+ned = np.array([1.0, 2.0, 3.0])
+enu = mql.ned_to_enu(ned)
+print(f"NED {ned} -> ENU {enu}")
+```
+
+For detailed Python documentation, see:
+
+📖 **[python/README.md](python/README.md)**
+
+---
+
+## License
+
+MIT License - see [LICENSE](LICENSE) for details.
+
+## Author
+
+Chengyu Yang (chengyuy520@gmail.com)

mini_quadlib-0.1.2/mini_quadlib/__init__.py

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+"""
+Mini-QuadLib Python Bindings - Complete C API Coverage
+
+A comprehensive Python wrapper for the mini-quadlib C library providing 
+almost all C API functions with minimal abstraction.
+"""
+
+# Import everything from core
+from .core import *
+
+__version__ = "0.1.2"
+__author__ = "Chengyu Yang"
+__email__ = "chengyuy520@gmail.com"
+
+# Re-export everything for convenience
+# (Everything is already imported via "from .core import *")