pfc-geometry 0.1.0__py3-none-any.whl → 0.2.4__py3-none-any.whl

geometry/quaternion.py

@@ -9,21 +9,22 @@ FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 You should have received a copy of the GNU General Public License along with
 this program. If not, see <http://www.gnu.org/licenses/>.
 """
+from __future__ import annotations
 from .point import Point
 from .base import Base
 from geometry import PZ
-from typing import Union, Tuple
 import numpy as np
+import numpy.typing as npt
+import pandas as pd
 from warnings import warn
 from numbers import Number
 
 
-
 class Quaternion(Base):
     cols=["w", "x", "y", "z"]
 
     @staticmethod
-    def zero(count=1):
+    def zero(count=1) -> Quaternion:
         return Quaternion(np.tile([1,0,0,0], (count,1)))
 
     @property
@@ -31,19 +32,19 @@ class Quaternion(Base):
         return np.array([self.x, self.y, self.z, self.w]).T
 
     @property
-    def axis(self):
+    def axis(self) -> Point:
         return Point(self.data[:,1:])
 
-    def norm(self):
+    def norm(self) -> Quaternion:
         return self / abs(self)
 
-    def conjugate(self):
+    def conjugate(self) -> Quaternion:
         return Quaternion(self.w, -self.x, -self.y, -self.z)
 
     def inverse(self):
         return self.conjugate().norm()
 
-    def __mul__(self, other):
+    def __mul__(self, other: Number | Quaternion | npt.NDArray) -> Quaternion:
         if isinstance(other, Quaternion):
             a, b = Quaternion.length_check(self, Quaternion.type_check(other))
             w = a.w * b.w - a.axis.dot(b.axis)
@@ -53,15 +54,15 @@ class Quaternion(Base):
         elif isinstance(other, Number):
             return Quaternion(self.data * other)
         elif isinstance(other, np.ndarray):
-            return Quaternions(self.data * self._dprep(other))
+            return Quaternion(self.data * self._dprep(other))
                         
         raise TypeError(f"cant multiply a quaternion by a {other.__class__.__name__}")
 
-    def __rmul__(self, other):
+    def __rmul__(self, other) -> Quaternion:
         #either it should have been picked up by the left hand object or it should commute
         return self * other   
 
-    def transform_point(self, point: Point):
+    def transform_point(self, point: Point) -> Point:
         '''Transform a point by the rotation described by self'''
         a, b = Base.length_check(self, point)
         
@@ -70,9 +71,9 @@ class Quaternion(Base):
         return (a * Quaternion(qdata) * a.inverse()).axis
   
     @staticmethod
-    def from_euler(eul: Point):
-        eul = Point.type_check(eul)
-        # xyz-fixed Euler angle convention: matches ArduPilot AP_Math/Quaternion::from_euler
+    def from_euler(eul: Point) -> Quaternion:
+        '''Create a quaternion from a Point of Euler angles order z, y, x'''
+        eul = Point.type_check(eul).unwrap()
         half = eul * 0.5
         c = half.cos
         s = half.sin
@@ -86,18 +87,16 @@ class Quaternion(Base):
             ]).T
         )
 
-    def to_euler(self):
-        
-        # roll (x-axis rotation)
+    def to_euler(self) -> Point:
+        '''Create a Point of Euler angles order z,y,x'''
         sinr_cosp = 2 * (self.w * self.x + self.y * self.z)
         cosr_cosp = 1 - 2 * (self.x * self.x + self.y * self.y)
         roll = np.arctan2(sinr_cosp, cosr_cosp)
 
-        # pitch (y-axis rotation)
         sinp = 2 * (self.w * self.y - self.z * self.x)
-        pitch = np.arcsin(sinp)
+        with np.errstate(invalid='ignore'):
+            pitch = np.arcsin(sinp)
                 
-        # yaw (z-axis rotation)
         siny_cosp = 2 * (self.w * self.z + self.x * self.y)
         cosy_cosp = 1 - 2 * (self.y * self.y + self.z * self.z)
         yaw = np.arctan2(siny_cosp, cosy_cosp)
@@ -111,7 +110,7 @@ class Quaternion(Base):
         return Point(roll, pitch, yaw)
 
     @staticmethod
-    def from_axis_angle(axangles: Point):
+    def from_axis_angle(axangles: Point) -> Quaternion:
         small = 1e-6
         angles = abs(axangles)
 
@@ -132,43 +131,71 @@ class Quaternion(Base):
         #qdat[abs(Quaternions(qdat)) < .001] = np.array([[1, 0, 0, 0]])
         return Quaternion(qdat)
 
-    def to_axis_angle(self):
+    def to_axis_angle(self) -> Point:
+        a = self._to_axis_angle()
+        b = (-self)._to_axis_angle()
+
+        res = a.data
+        replocs = abs(a)>abs(b)
+        res[replocs, :] = b.data[replocs, :]
+
+        return Point(res)
+
+    def _to_axis_angle(self) -> Point:
         """to a point of axis angles. must be normalized first."""
         angle = 2 * np.arccos(self.w)
         s = np.sqrt(1 - self.w**2)
         np.array(s)[np.array(s) < 1e-6] = 1.0
-        return self.axis * angle / s
-
+        with np.errstate(divide="ignore", invalid='ignore'):
+            sangle = angle / s
+            sangle[sangle==np.inf] = 0
+            sangle[np.isnan(sangle)] = 0
+        res = self.axis * sangle
+        return res
 
     @staticmethod
-    def axis_rates(q, qdot) -> Point:
+    def axis_rates(q: Quaternion, qdot: Quaternion) -> Point:
         wdash = qdot * q.conjugate()
         return wdash.norm().to_axis_angle() 
 
     @staticmethod
-    def body_axis_rates(q, qdot) -> Point:
+    def _axis_rates(q: Quaternion, qdot: Quaternion) -> Point:
+        wdash = qdot * q.conjugate()
+        return wdash.norm()._to_axis_angle() 
+
+    @staticmethod
+    def body_axis_rates(q: Quaternion, qdot: Quaternion) -> Point:
         wdash = q.conjugate() * qdot
         return wdash.norm().to_axis_angle() 
 
-    def rotate(self, rate: Point):
+    @staticmethod
+    def _body_axis_rates(q: Quaternion, qdot: Quaternion) -> Point:
+        wdash = q.conjugate() * qdot
+        return wdash.norm()._to_axis_angle() 
+
+    def rotate(self, rate: Point) -> Quaternion:
         return (Quaternion.from_axis_angle(rate) * self).norm()
 
-    def body_rotate(self, rate: Point):
+    def body_rotate(self, rate: Point) -> Quaternion:
         return (self * Quaternion.from_axis_angle(rate)).norm()
 
-    def diff(self, dt: np.array) -> Point:
+    def diff(self, dt: Number | npt.NDArray) -> Point:
         """differentiate in the world frame"""
+        if not pd.api.types.is_list_like(dt):
+            dt = np.full(len(self), dt)
         assert len(dt) == len(self)
         dt = dt * len(dt) / (len(dt) - 1)
 
-        ps = Quaternion.axis_rates(
+        ps = Quaternion._axis_rates(
             Quaternion(self.data[:-1, :]),
             Quaternion(self.data[1:, :])
         ) / dt[:-1]
-        return Point(np.vstack([ps.data, ps.data[-1,:]]))#.remove_outliers(2)  # Bodge to get rid of phase jump
+        return Point(np.vstack([ps.data, ps.data[-1,:]]))
 
-    def body_diff(self, dt: np.array) -> Point:
+    def body_diff(self, dt: Number | npt.NDArray) -> Point:
         """differentiate in the body frame"""
+        if not pd.api.types.is_list_like(dt):
+            dt = np.full(len(self), dt)
         assert len(dt) == len(self)
         dt = dt * len(dt) / (len(dt) - 1)
 
@@ -179,7 +206,7 @@ class Quaternion(Base):
         return Point(np.vstack([ps.data, ps.data[-1,:]]))
 
     
-    def to_rotation_matrix(self):
+    def to_rotation_matrix(self) -> npt.NDArray[np.float64]:
         """http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
         https://github.com/mortlind/pymath3d/blob/master/math3d/quaternion.py
         """
@@ -193,7 +220,7 @@ class Quaternion(Base):
         ]).T
 
     @staticmethod
-    def from_rotation_matrix(matrix: np.ndarray):
+    def from_rotation_matrix(matrix: npt.NDArray[np.float64]) -> Quaternion:
         # This method assumes row-vector and postmultiplication of that vector
         m = matrix.conj().transpose()
         if m[2, 2] < 0:
@@ -217,15 +244,12 @@ class Quaternion(Base):
         q *= 0.5 / np.sqrt(t)
         return Quaternion(*q)
 
-    def __str__(self):
-        return "W:{w:.2f}\nX:{x:.2f}\nY:{y:.2f}\nZ:{z:.2f}".format(w=self.w, x=self.x, y=self.y, z=self.z)
-
-    def closest_principal(self):
+    def closest_principal(self) -> Quaternion:
         eul = self.to_euler()
         rads = eul * (2 / np.pi)
         return Quaternion.from_euler(rads.round(0) * np.pi/2)
 
-    def is_inverted(self):
+    def is_inverted(self) -> bool:
         # does the rotation reverse the Z axis?
         return np.sign(self.transform_point(PZ()).z) > 0
 

geometry/time.py

@@ -0,0 +1,40 @@
+from geometry import Base
+from numbers import Number
+from typing import Self
+import numpy as np
+from time import time
+
+
+class Time(Base):
+    cols=["t", "dt"]
+    
+    @staticmethod
+    def from_t(t: np.ndarray) -> Self:
+        if isinstance(t, Number):
+            return Time(t, 1/30)
+        else:
+            if len(t) == 1:
+                dt = np.array([1/30]) 
+            else:
+                arr = np.diff(t)
+                dt = np.concatenate([arr, [arr[-1]]])
+            return Time(t, dt)
+
+    def scale(self, duration) -> Self:
+        old_duration = self.t[-1] - self.t[0]
+        sfac = duration / old_duration
+        return Time(
+            self.t[0] + (self.t - self.t[0]) * sfac,
+            self.dt * sfac
+        )
+
+    def reset_zero(self):
+        return Time(self.t - self.t[0], self.dt)
+
+    @staticmethod
+    def now():
+        return Time.from_t(time())
+
+    def extend(self):
+        return Time.concatenate([self, Time(self.t[-1] + self.dt[-1], self.dt[-1])])
+

geometry/transformation.py

@@ -9,10 +9,11 @@ FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 You should have received a copy of the GNU General Public License along with
 this program. If not, see <http://www.gnu.org/licenses/>.
 """
-from geometry import Base, Point, Quaternion, Point, P0, Q0, Coord
+from geometry import Base, Point, Quaternion, P0, Q0, Coord
 
 import numpy as np
 from typing import Union
+from typing import Self
 
 
 class Transformation(Base):
@@ -21,8 +22,16 @@ class Transformation(Base):
     def __init__(self, *args, **kwargs):
         if len(args) == len(kwargs) == 0:
             args = np.concatenate([P0().data,Q0().data],axis=1)
+        elif len(args) == 1:
+            if isinstance(args[0], Point):
+                args = np.concatenate([args[0].data,Q0().data],axis=1)
+            elif isinstance(args[0], Quaternion):
+                args = np.concatenate([P0().data,args[0].data],axis=1)
         if len(args) == 2:
-            args = np.concatenate([args[0].data, args[1].data], axis=1)
+            _q = args[0] if isinstance(args[0], Quaternion) else args[1]
+            _p = args[0] if isinstance(args[0], Point) else args[1]
+            assert isinstance(_q, Quaternion) and isinstance(_p, Point), f'expected a Point and a Quaternion, got a {_p.__class__.__name__} and a {_q.__class__.__name__}'
+            args = np.concatenate([_p.data, _q.data], axis=1)
         super().__init__(*args, **kwargs)
         self.p = Point(self.data[:,:3])
         self.q = Quaternion(self.data[:,3:])
@@ -82,19 +91,24 @@ class Transformation(Base):
         )
 
     
-    def apply(self, oin: Union[Point, Quaternion]):
+    def apply(self, oin: Union[Point, Quaternion, Self, Coord]):
         if isinstance(oin, Point):
             return self.point(oin)
         elif isinstance(oin, Quaternion):
             return self.rotate(oin)
+        elif isinstance(oin, Coord):
+            return self.coord(oin)
         elif isinstance(oin, self.__class__):
             return Transformation(self.apply(oin.p), self.apply(oin.q))
+        
 
     def rotate(self, oin: Union[Point, Quaternion]):
         if isinstance(oin, Point):
             return self.q.transform_point(oin)
         elif isinstance(oin, Quaternion):
             return self.q * oin
+        else:
+            raise TypeError(f"expected a Point or a Quaternion, got a {oin.__class__.__name__}")
 
     def translate(self, point: Point):
         return point + self.p
@@ -102,8 +116,10 @@ class Transformation(Base):
     def point(self, point: Point):
         return self.translate(self.rotate(point))       
 
-    def coord(self, coord):
-        return coord.translate(self.p).rotate(self.q.to_rotation_matrix())
+    def coord(self, coord=None):
+        if coord is None:
+            coord = Coord.zero()
+        return coord.translate(self.p).rotate(self.q)
 
 
     def to_matrix(self):

pfc_geometry-0.2.4.dist-info/LICENSE

@@ -0,0 +1,165 @@
+GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
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+
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+   function or data, the facility still operates, and performs
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+
+   b) under the GNU GPL, with none of the additional permissions of
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+
+  3. Object Code Incorporating Material from Library Header Files.
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+  The object code form of an Application may incorporate material from
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+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
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+   b) Accompany the object code with a copy of the GNU GPL and this license
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+  4. Combined Works.
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+  You may convey a Combined Work under terms of your choice that,
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+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
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+   document.
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+   c) For a Combined Work that displays copyright notices during
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+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
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+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
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+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
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+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
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+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
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+conditions either of that published version or of any later version
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+
+  If the Library as you received it specifies that a proxy can decide
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+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

pfc_geometry-0.2.4.dist-info/METADATA

@@ -0,0 +1,30 @@
+Metadata-Version: 2.1
+Name: pfc_geometry
+Version: 0.2.4
+Summary: A package for handling 3D geometry with a nice interface
+Home-page: https://github.com/PyFlightCoach/geometry
+Author: Thomas David
+Author-email: thomasdavid0@gmail.com
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: setuptools
+Requires-Dist: numpy
+Requires-Dist: pandas
+
+# geometry #
+
+Tools for handling 3D geometry, mostly just adds a nice interface to various geometric enterties. Each geometric entity can also be a vector of geometric entities. Each entity wraps a numpy array with the relevant number of columns labelled according to the cols class property and rows equal to the number of elements in the vector. Attribute access to each column is available and returns a numpy array. 
+
+Where operations are supported between geometric types the size of the output is inferred based on the length of the inputs. Where the two vectors of entities are of the same length, elementwise operations are performed. Where one vector is length one and the other is greater than one then the operation will be performed on every element of the longer vector. 
+
+Magic methods are used extensively and the function of operators are logical for each type. If unsure what the logical option is then check the code where it should be pretty clear. 
+
+Many convenience methods and constructors are available. Documentation is limited but if you need something it has probably already been written so check the code first. 
+
+
+Some examples are available here: https://pfcdocumentation.readthedocs.io/pyflightcoach/geometry.html
+
+now available on pypi:
+```bash
+    pip install pfc-geometry
+```

pfc_geometry-0.2.4.dist-info/RECORD

@@ -0,0 +1,15 @@
+geometry/__init__.py,sha256=HNhMyemIJzDq1nDjrr09eX5PS7q9ULscSbYsXss3JRM,1253
+geometry/base.py,sha256=ZgjOPv2QU6nBSEFurBXCIos0YVjEZhjjT-NTz06DCvo,11277
+geometry/coordinate_frame.py,sha256=qO3jqUWF4PW4BOkw5rBMTXfOzBjlA1HYwGYmPtu2M8M,3039
+geometry/gps.py,sha256=Fs3hakSQ754HUqRsA7NWg_MSEdYxNqyiu4gu6EDrFqI,3381
+geometry/mass.py,sha256=BUWBSITwpdRfpJR5-oJTd16BI7FLZt8rhxdzr0cx1HY,1675
+geometry/point.py,sha256=gwP9Jn80eSKmWE9Q2efS5oFYEGoO6XpBmPCFSOQ2j3Q,5025
+geometry/quaternion.py,sha256=rw_9Fx9uKMMuGAWJjH1vU-iZzA15Vbn3HyzS4qV3oxY,9367
+geometry/testing.py,sha256=o8yMBAdU5Vy0EspBYaof4fPGgRSFZhRDhzBjRPsLd0M,375
+geometry/time.py,sha256=NdzVWdL7F3HpJb4MXYJ0uPHvgHqipVMTDTR-UVNx_wc,995
+geometry/transformation.py,sha256=iCQRTC1sbH_TCRpm9d_PmGS8qxAne5LpGcCSeRpmcpM,4701
+pfc_geometry-0.2.4.dist-info/LICENSE,sha256=z72U6pv-bQgJ_Svr4uCXnMjemsp38aSerhHEdEAOMJ4,7632
+pfc_geometry-0.2.4.dist-info/METADATA,sha256=uyHMoGMgnSpAmPEcwQHjh_6AxVVqCZMQP0SebSx3HUE,1675
+pfc_geometry-0.2.4.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+pfc_geometry-0.2.4.dist-info/top_level.txt,sha256=RWbWhWYclEM-OFtXLCB4eLv-jxNnlJB-NPC2YM587Fo,9
+pfc_geometry-0.2.4.dist-info/RECORD,,

{pfc_geometry-0.1.0.dist-info → pfc_geometry-0.2.4.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.38.4)
+Generator: bdist_wheel (0.43.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

geometry/circle.py

@@ -1,28 +0,0 @@
-"""
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <http://www.gnu.org/licenses/>.
-"""
-from geometry import Point, Quaternion, Transformation
-
-
-
-class Circle():
-    def __init__(self, radius: float, transform: Transformation):
-        """The circle is about the Z axis, centre on the origin. The transformation 
-        defines the location of the axis.
-
-        Args:
-            radius (float): The radius of the circle
-            transform (Transformation): The transformation to the circles axis (0,0,1)
-        """
-        self.radius = radius
-        self.transform = transform
-    
-#change