minsnap_trajectories 0.2.0__tar.gz

minsnap_trajectories-0.2.0/.claude/settings.local.json

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+{
+  "permissions": {
+    "additionalDirectories": [
+      "/home/hs293go/src/autopilot"
+    ]
+  }
+}

minsnap_trajectories-0.2.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.11"
+      - run: uv tool install ruff
+      - run: ruff check .
+      - run: ruff format --check .
+
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --dev
+      - run: uv run pytest tests/

minsnap_trajectories-0.2.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

minsnap_trajectories-0.2.0/.python-version

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+3.11

minsnap_trajectories-0.2.0/.vscode/settings.json

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+{
+  "python.testing.pytestArgs": [
+    "tests"
+  ],
+  "python.testing.unittestEnabled": false,
+  "python.testing.pytestEnabled": true
+}

minsnap_trajectories-0.2.0/LICENSE

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+MIT License
+
+Copyright (c) 2024 hs293go
+
+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.

minsnap_trajectories-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: minsnap_trajectories
+Version: 0.2.0
+Summary: Simple minimum-snap trajectory generator
+Project-URL: Homepage, https://github.com/Hs293Go/minsnap_trajectories
+Author-email: H S Helson Go <hei.go@mail.utoronto.ca>
+License-Expression: MIT
+License-File: LICENSE
+Keywords: differential flatness,minimum snap,path planning,trajectory generation
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Typing :: Typed
+Requires-Python: >=3.11
+Requires-Dist: numpy>=2.4.4
+Requires-Dist: scipy>=1.17.1
+Description-Content-Type: text/markdown
+
+# Minsnap Trajectories
+
+Simple Python/Numpy implementation of the Minimum Snap Trajectory Generation algorithm.
+
+This package addresses the shortage of turnkey minsnap trajectory generator implementations on PyPI. It implements two of the most time-tested algorithms in this area:
+
+- Mellinger and Kumar's original Minimum Snap Trajectory Generator [[1]](#1)
+
+- Roy and Bry's numerically stable, unconstrained quadratic program [[2]](#2)
+
+and an important utility in generating quadrotor trajectories:
+
+- [Aerodynamic-effects-aware flatness map](https://github.com/ZJU-FAST-Lab/GCOPTER/blob/main/misc/flatness.pdf) from flat outputs to quadrotor state and inputs
+
+---
+
+<a id="1">[1]</a>: D. Mellinger and V. Kumar. Minimum snap trajectory generation and control for quadrotors.
+In *Proc. Int. Conf. on Robotics and Automation*, 2011
+
+<a id="2">[2]</a>: C. Richter, A. Bry, and N. Roy. Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments.
+In *Int. Symposium on Robotics Research*, 2013
+
+## Get Started
+
+### Preliminaries
+
+Use the following convention to import this package
+
+``` python
+import minsnap_trajectories as ms
+```
+
+Derivatives on position are numbered from 0, as shown below
+
+| Orders (# of derivatives) |    0     |    1     |      2       |  3   |  4   |
+| ------------------------- | -------- | -------- | ------------ | ---- | ---- |
+| Quantity                  | Position | Velocity | Acceleration | Jerk | Snap |
+
+### TLDR
+
+Four key names
+
+- `ms.Waypoint`: Time, position, velocity, etc. waypoint. A sequence of this defines the trajectory
+- `ms.generate_trajectory`: Generates the piecewise-polynomial trajectory
+- `ms.compute_trajectory_derivatives`: Samples the polynomial for position/velocity/acceleration, etc.
+- `ms.compute_quadrotor_trajectory`: Directly compute quadrotor state/inputs along the trajectory
+
+### Full usage example
+
+![Trajectory generated by this example](https://github.com/Hs293Go/minsnap_trajectories/blob/main/example/minsnap_trajectories_example.png?raw=true)
+
+Define a sequence of position (and optionally velocity, acceleration, higher-order) references  
+
+``` python
+refs = [
+    ms.Waypoint(
+        time=0.0,
+        position=np.array([0.0, 0.0, 10.0]),
+    ),
+    ms.Waypoint(  # Any higher-order derivatives
+        time=8.0,
+        position=np.array([10.0, 0.0, 10.0]),
+        velocity=np.array([0.0, 5.0, 0.0]),
+        acceleration=np.array([0.1, 0.0, 0.0]),
+    ),
+    ms.Waypoint(  # Potentially leave intermediate-order derivatives unspecified
+        time=16.0,
+        position=np.array([20.0, 0.0, 10.0]),
+        jerk=np.array([0.1, 0.0, 0.2]),
+    ),
+]
+```
+
+Generate a piecewise polynomial trajectory using Roy and Bry's closed form solution, minimizing jerk (order-3) AND snap (order-4) while constraining position, velocity, etc... up to jerk (orders 0 to 3) to be continuous
+
+``` python
+polys = ms.generate_trajectory(
+    refs,
+    degree=8,  # Polynomial degree
+    idx_minimized_orders=(3, 4),
+    num_continuous_orders=4,  # 4 orders: position, velocity, acceleration, jerk
+    algorithm="closed-form",  # Or "constrained"
+)
+
+# Inspect the output
+t = polys.time_reference
+dt = polys.durations
+cfs = polys.coefficients
+```
+
+Sample the polynomial trajectory to get position, velocity, acceleration (or higher-order) trajectories
+
+``` python
+t = np.linspace(0, 16, 100)
+#  Sample 3 derivative orders (position, velocity, acceleration) -----v
+pva = ms.compute_trajectory_derivatives(polys, t, 3)
+position = pva[0, ...]
+velocity = pva[1, ...]
+```
+
+`num_orders` is a count, not an index: pass `4` to also include jerk, `5` for snap, etc.
+
+Or directly generate a quadrotor UAV trajectory
+
+``` python
+t = np.linspace(0, 15, 100)
+states, inputs = ms.compute_quadrotor_trajectory(
+    polys,
+    t,
+    vehicle_mass=1.0, # Quadrotor weight
+    yaw="velocity", # Align yaw angle to quadrotor velocity
+    drag_params=ms.RotorDragParameters(0.1, 0.2, 1.0),
+)
+```
+
+## Limitations
+
+Tests are not nearly enough!
+
+Existing tests show that this piecewise polynomial planner behaves identically to two of the more *approachable* MATLAB-based trajectory generator implementations by [icsl-Jeon](https://github.com/icsl-Jeon/traj_gen-matlab) and [symao](https://github.com/symao/minimum_snap_trajectory_generation).
+
+1. The polynomial planner is not well-guarded against the case when the polynomial planning problem is overconstrained, i.e.
+
+   - The polynomial degree is too low
+   - Too many orders of derivatives are constrained to be continuous
+
+2. The quadrotor trajectory generator is not extensively tested (the rotor-drag effect compensation function is even more so).
+
+Until more extensive tests are available, use the following parameters in polynomial planning (they are the defaults)
+
+- `degree`: From 5 to 15
+- `idx_minimized_orders`: 4 (Minimum snap)
+- `num_continuous_orders`: 3 (Just keep position/velocity/acceleration continuous)
+
+## Migrating to 0.2.0
+
+- Requires Python 3.11+.
+- `Waypoint` is now a frozen dataclass instead of a `dict` subclass. The constructor signature is unchanged, and all of `position`, `velocity`, `acceleration`, `jerk`, `snap`, and `time` are exposed as attributes (previously `jerk` and `snap` were silently dropped from the property accessors). Code that accessed waypoints by dict-key (e.g. `wp[0]`) must switch to attribute access (e.g. `wp.position`).
+- The third positional argument to `compute_trajectory_derivatives` was renamed from `order` to `num_orders` to reflect that it counts derivative orders rather than indexing into them. Positional callers are unaffected.

minsnap_trajectories-0.2.0/README.md

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+# Minsnap Trajectories
+
+Simple Python/Numpy implementation of the Minimum Snap Trajectory Generation algorithm.
+
+This package addresses the shortage of turnkey minsnap trajectory generator implementations on PyPI. It implements two of the most time-tested algorithms in this area:
+
+- Mellinger and Kumar's original Minimum Snap Trajectory Generator [[1]](#1)
+
+- Roy and Bry's numerically stable, unconstrained quadratic program [[2]](#2)
+
+and an important utility in generating quadrotor trajectories:
+
+- [Aerodynamic-effects-aware flatness map](https://github.com/ZJU-FAST-Lab/GCOPTER/blob/main/misc/flatness.pdf) from flat outputs to quadrotor state and inputs
+
+---
+
+<a id="1">[1]</a>: D. Mellinger and V. Kumar. Minimum snap trajectory generation and control for quadrotors.
+In *Proc. Int. Conf. on Robotics and Automation*, 2011
+
+<a id="2">[2]</a>: C. Richter, A. Bry, and N. Roy. Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments.
+In *Int. Symposium on Robotics Research*, 2013
+
+## Get Started
+
+### Preliminaries
+
+Use the following convention to import this package
+
+``` python
+import minsnap_trajectories as ms
+```
+
+Derivatives on position are numbered from 0, as shown below
+
+| Orders (# of derivatives) |    0     |    1     |      2       |  3   |  4   |
+| ------------------------- | -------- | -------- | ------------ | ---- | ---- |
+| Quantity                  | Position | Velocity | Acceleration | Jerk | Snap |
+
+### TLDR
+
+Four key names
+
+- `ms.Waypoint`: Time, position, velocity, etc. waypoint. A sequence of this defines the trajectory
+- `ms.generate_trajectory`: Generates the piecewise-polynomial trajectory
+- `ms.compute_trajectory_derivatives`: Samples the polynomial for position/velocity/acceleration, etc.
+- `ms.compute_quadrotor_trajectory`: Directly compute quadrotor state/inputs along the trajectory
+
+### Full usage example
+
+![Trajectory generated by this example](https://github.com/Hs293Go/minsnap_trajectories/blob/main/example/minsnap_trajectories_example.png?raw=true)
+
+Define a sequence of position (and optionally velocity, acceleration, higher-order) references  
+
+``` python
+refs = [
+    ms.Waypoint(
+        time=0.0,
+        position=np.array([0.0, 0.0, 10.0]),
+    ),
+    ms.Waypoint(  # Any higher-order derivatives
+        time=8.0,
+        position=np.array([10.0, 0.0, 10.0]),
+        velocity=np.array([0.0, 5.0, 0.0]),
+        acceleration=np.array([0.1, 0.0, 0.0]),
+    ),
+    ms.Waypoint(  # Potentially leave intermediate-order derivatives unspecified
+        time=16.0,
+        position=np.array([20.0, 0.0, 10.0]),
+        jerk=np.array([0.1, 0.0, 0.2]),
+    ),
+]
+```
+
+Generate a piecewise polynomial trajectory using Roy and Bry's closed form solution, minimizing jerk (order-3) AND snap (order-4) while constraining position, velocity, etc... up to jerk (orders 0 to 3) to be continuous
+
+``` python
+polys = ms.generate_trajectory(
+    refs,
+    degree=8,  # Polynomial degree
+    idx_minimized_orders=(3, 4),
+    num_continuous_orders=4,  # 4 orders: position, velocity, acceleration, jerk
+    algorithm="closed-form",  # Or "constrained"
+)
+
+# Inspect the output
+t = polys.time_reference
+dt = polys.durations
+cfs = polys.coefficients
+```
+
+Sample the polynomial trajectory to get position, velocity, acceleration (or higher-order) trajectories
+
+``` python
+t = np.linspace(0, 16, 100)
+#  Sample 3 derivative orders (position, velocity, acceleration) -----v
+pva = ms.compute_trajectory_derivatives(polys, t, 3)
+position = pva[0, ...]
+velocity = pva[1, ...]
+```
+
+`num_orders` is a count, not an index: pass `4` to also include jerk, `5` for snap, etc.
+
+Or directly generate a quadrotor UAV trajectory
+
+``` python
+t = np.linspace(0, 15, 100)
+states, inputs = ms.compute_quadrotor_trajectory(
+    polys,
+    t,
+    vehicle_mass=1.0, # Quadrotor weight
+    yaw="velocity", # Align yaw angle to quadrotor velocity
+    drag_params=ms.RotorDragParameters(0.1, 0.2, 1.0),
+)
+```
+
+## Limitations
+
+Tests are not nearly enough!
+
+Existing tests show that this piecewise polynomial planner behaves identically to two of the more *approachable* MATLAB-based trajectory generator implementations by [icsl-Jeon](https://github.com/icsl-Jeon/traj_gen-matlab) and [symao](https://github.com/symao/minimum_snap_trajectory_generation).
+
+1. The polynomial planner is not well-guarded against the case when the polynomial planning problem is overconstrained, i.e.
+
+   - The polynomial degree is too low
+   - Too many orders of derivatives are constrained to be continuous
+
+2. The quadrotor trajectory generator is not extensively tested (the rotor-drag effect compensation function is even more so).
+
+Until more extensive tests are available, use the following parameters in polynomial planning (they are the defaults)
+
+- `degree`: From 5 to 15
+- `idx_minimized_orders`: 4 (Minimum snap)
+- `num_continuous_orders`: 3 (Just keep position/velocity/acceleration continuous)
+
+## Migrating to 0.2.0
+
+- Requires Python 3.11+.
+- `Waypoint` is now a frozen dataclass instead of a `dict` subclass. The constructor signature is unchanged, and all of `position`, `velocity`, `acceleration`, `jerk`, `snap`, and `time` are exposed as attributes (previously `jerk` and `snap` were silently dropped from the property accessors). Code that accessed waypoints by dict-key (e.g. `wp[0]`) must switch to attribute access (e.g. `wp.position`).
+- The third positional argument to `compute_trajectory_derivatives` was renamed from `order` to `num_orders` to reflect that it counts derivative orders rather than indexing into them. Positional callers are unaffected.

minsnap_trajectories-0.2.0/example/example.py

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+"""
+Copyright © 2024 Hs293Go
+
+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.
+"""
+
+import os.path
+
+import matplotlib.pyplot as plt
+import numpy as np
+
+import minsnap_trajectories as ms
+
+
+def main():
+    refs = [
+        ms.Waypoint(
+            time=0.0,
+            position=np.array([0.0, 0.0, 10.0]),
+        ),
+        ms.Waypoint(  # Any higher-order derivatives
+            time=8.0,
+            position=np.array([10.0, 0.0, 10.0]),
+            velocity=np.array([0.0, 5.0, 0.0]),
+            acceleration=np.array([0.1, 0.0, 0.0]),
+        ),
+        ms.Waypoint(  # Potentially leave intermediate-order derivatives unspecified
+            time=16.0,
+            position=np.array([20.0, 0.0, 10.0]),
+            jerk=np.array([0.1, 0.0, 0.2]),
+        ),
+    ]
+
+    polys = ms.generate_trajectory(
+        refs,
+        degree=8,  # Polynomial degree
+        idx_minimized_orders=(3, 4),  # Minimize derivatives in these orders (>= 2)
+        num_continuous_orders=4,  # Constrain continuity through jerk so the waypoint
+        # jerk hint above is honored
+        algorithm="closed-form",  # Or "constrained"
+    )
+
+    t = np.linspace(0, 16, 100)
+    #  Sample 3 derivative orders (position, velocity, acceleration) -----v
+    pva = ms.compute_trajectory_derivatives(polys, t, 3)
+    position, *_ = pva
+
+    fig, ax = plt.subplots(subplot_kw={"projection": "3d"}, figsize=(5, 4))
+    ax.plot(position[:, 0], position[:, 1], position[:, 2], label="Position Trajectory")
+
+    position_waypoints = np.array([it.position for it in refs])
+    ax.plot(
+        position_waypoints[:, 0],
+        position_waypoints[:, 1],
+        position_waypoints[:, 2],
+        "ro",
+        label="Position Waypoints",
+    )
+    ax.quiver(
+        *refs[1].position,
+        *refs[1].velocity,
+        color="g",
+        label="Velocity specified at waypoint 1",
+    )
+    ax.set_zlim(8, 12)
+    ax.set_xlabel("X (m)")
+    ax.set_ylabel("Y (m)")
+    ax.set_zlabel("Z (m)")
+    ax.legend(loc="upper right")
+    fig.tight_layout()
+    out_dir = "example"
+    if os.path.isdir(out_dir):
+        fig.savefig(os.path.join(out_dir, "minsnap_trajectories_example.png"))
+    else:
+        plt.show()
+
+
+if __name__ == "__main__":
+    main()

minsnap_trajectories-0.2.0/pyproject.toml

@@ -0,0 +1,60 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "minsnap_trajectories"
+version = "0.2.0"
+description = "Simple minimum-snap trajectory generator"
+readme = "README.md"
+authors = [{ name = "H S Helson Go", email = "hei.go@mail.utoronto.ca" }]
+license = "MIT"
+requires-python = ">=3.11"
+keywords = [
+  "trajectory generation",
+  "path planning",
+  "minimum snap",
+  "differential flatness",
+]
+classifiers = [
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3.11",
+  "Programming Language :: Python :: 3.12",
+  "Programming Language :: Python :: 3.13",
+  "License :: OSI Approved :: MIT License",
+  "Operating System :: OS Independent",
+  "Typing :: Typed",
+]
+dependencies = ["numpy>=2.4.4", "scipy>=1.17.1"]
+
+[dependency-groups]
+dev = [
+  "hypothesis>=6.152.6",
+  "matplotlib>=3.10.9",
+  "pytest>=9.0.3",
+  "ruff>=0.15.12",
+]
+
+[project.urls]
+Homepage = "https://github.com/Hs293Go/minsnap_trajectories"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/minsnap_trajectories"]
+
+[tool.pytest.ini_options]
+pythonpath = "src"
+filterwarnings = "ignore::DeprecationWarning"
+
+[tool.ruff]
+line-length = 100
+target-version = "py311"
+
+[tool.ruff.lint]
+select = ["E", "F", "W", "I", "UP", "B", "SIM", "NPY", "RUF"]
+ignore = [
+  "E741",   # ambiguous variable names (l, I) — common in linear-algebra code
+  "RUF012", # mutable class defaults — not relevant here
+]
+
+[tool.ruff.lint.per-file-ignores]
+"tests/*" = ["B011"]