pfc-geometry 0.1.2__tar.gz → 0.1.4__tar.gz

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/PKG-INFO

@@ -1,10 +1,12 @@
 Metadata-Version: 2.1
 Name: pfc_geometry
-Version: 0.1.2
+Version: 0.1.4
 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
+License: UNKNOWN
+Platform: UNKNOWN
 Description-Content-Type: text/markdown
 License-File: LICENSE
 
@@ -22,3 +24,4 @@ Many convenience methods and constructors are available. Documentation is limite
 now available on pypi:
 
 pip install pfc-geometry
+

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/geometry/point.py

@@ -9,6 +9,7 @@ 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 .base import Base
 import numpy as np
 import pandas as pd
@@ -23,15 +24,13 @@ class Point(Base):
         "arcsin","arccos","arctan",
     ]
 
-    def scale(self, value):
-        a, b=value, abs(self)
-        res = a/b
-        res[b==0] = 0
-        res = self * res
+    def scale(self, value) -> Point:
+        with np.errstate(divide="ignore"):
+            res = value/abs(self)
+        res[res==np.inf] = 0
+        return self * res
         
-        return res
-        
-    def unit(self):
+    def unit(self) -> Point:
         return self.scale(1)
 
     def remove_outliers(self, nstds = 2):
@@ -141,31 +140,22 @@ def cross(a, b) -> Point:
 
 @ppmeth
 def cos_angle_between(a: Point, b: Point) -> np.ndarray:
-    if a == 0 or b == 0:
-        raise ValueError("cannot measure the angle to a zero length vector")
     return a.unit().dot(b.unit())
 
-
 @ppmeth
 def angle_between(a: Point, b: Point) -> np.ndarray:
     return np.arccos(a.cos_angle_between(b))
 
 @ppmeth
 def scalar_projection(a: Point, b: Point) -> Point:
-    if a==0 or b==0:
-        return 0
     return a.cos_angle_between(b) * abs(a)
 
 @ppmeth
 def vector_projection(a: Point, b: Point) -> Point:
-    if abs(a) == 0:
-        return Point.zeros()
     return b.scale(a.scalar_projection(b))
 
 @ppmeth
 def is_parallel(a: Point, b: Point, tolerance=1e-6):
-    if a.unit() == b.unit():
-        return True
     return abs(a.cos_angle_between(b) - 1) < tolerance
 
 @ppmeth
@@ -182,9 +172,7 @@ def angle_between(a: Point, b: Point) -> float:
     return np.arccos(cos_angle_between(a, b))
 
 def arbitrary_perpendicular(v: Point) -> Point:
-    if v.x == 0 and v.y == 0:
-        return Point(0, 1, 0)
-    return Point(-v.y, v.x, 0).unit
+    return Point(-v.y, v.x, 0).unit()
 
 def vector_norm(point: Point):
     return abs(point)

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/geometry/quaternion.py

@@ -9,7 +9,8 @@ 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 .point import Point
+from __future__ import annotations
+from .point import Point, P0
 from .base import Base
 from geometry import PZ
 from typing import Union, Tuple
@@ -23,7 +24,7 @@ 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
@@ -31,13 +32,13 @@ 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):
@@ -53,7 +54,7 @@ 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__}")
 
@@ -61,7 +62,7 @@ class Quaternion(Base):
         #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)
         
@@ -70,7 +71,7 @@ class Quaternion(Base):
         return (a * Quaternion(qdata) * a.inverse()).axis
   
     @staticmethod
-    def from_euler(eul: Point):
+    def from_euler(eul: Point) -> Quaternion:
         eul = Point.type_check(eul)
         # xyz-fixed Euler angle convention: matches ArduPilot AP_Math/Quaternion::from_euler
         half = eul * 0.5
@@ -86,7 +87,7 @@ class Quaternion(Base):
             ]).T
         )
 
-    def to_euler(self):
+    def to_euler(self) -> Point:
         
         # roll (x-axis rotation)
         sinr_cosp = 2 * (self.w * self.x + self.y * self.z)
@@ -111,7 +112,7 @@ 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)
 
@@ -133,27 +134,49 @@ class Quaternion(Base):
         return Quaternion(qdat)
 
     def to_axis_angle(self):
+        a = (-self)._to_axis_angle()
+        b = self._to_axis_angle()
+
+        res = a.data
+        res[abs(a)>abs(b), :] = -b.data[abs(a)>abs(b), :]
+
+        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"):
+            sangle = angle / s
+            sangle[sangle==np.inf] = 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:
@@ -161,7 +184,7 @@ class Quaternion(Base):
         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]
@@ -172,7 +195,7 @@ class Quaternion(Base):
         assert len(dt) == len(self)
         dt = dt * len(dt) / (len(dt) - 1)
 
-        ps = Quaternion.body_axis_rates(
+        ps = Quaternion._body_axis_rates(
             Quaternion(self.data[:-1, :]),
             Quaternion(self.data[1:, :])
         ) / dt[:-1]
@@ -193,7 +216,7 @@ class Quaternion(Base):
         ]).T
 
     @staticmethod
-    def from_rotation_matrix(matrix: np.ndarray):
+    def from_rotation_matrix(matrix: np.ndarray) -> Quaternion:
         # This method assumes row-vector and postmultiplication of that vector
         m = matrix.conj().transpose()
         if m[2, 2] < 0:
@@ -220,12 +243,12 @@ class Quaternion(Base):
     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
 

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/pfc_geometry.egg-info/PKG-INFO

@@ -1,10 +1,12 @@
 Metadata-Version: 2.1
 Name: pfc-geometry
-Version: 0.1.2
+Version: 0.1.4
 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
+License: UNKNOWN
+Platform: UNKNOWN
 Description-Content-Type: text/markdown
 License-File: LICENSE
 
@@ -22,3 +24,4 @@ Many convenience methods and constructors are available. Documentation is limite
 now available on pypi:
 
 pip install pfc-geometry
+

pfc_geometry-0.1.4/pfc_geometry.egg-info/top_level.txt

@@ -0,0 +1 @@
+

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/setup.cfg

@@ -5,7 +5,7 @@ author_email = thomasdavid0@gmail.com
 description = A package for handling 3D geometry with a nice interface
 long_description = file: README.md
 long_description_content_type = text/markdown
-version = 0.1.2
+version = 0.1.4
 url = https://github.com/PyFlightCoach/geometry
 
 [options]

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/tests/test_point.py

@@ -35,15 +35,17 @@ def test_scale():
     assert Point(1,0,0).scale(5) == Point(5,0,0)
     assert Point(1,0,0).scale(5).data.shape == Point(5,0,0).data.shape
 
-    assert P0().scale(5) == P0()
+    with np.errstate(divide="raise"):
+        assert Point.concatenate([PX(1,10), P0(10)]).scale(5) == Point.concatenate([PX(5,10), P0(10)])
+
 
 def test_unit():
     assert Point(5,0,0).unit() == Point(1,0,0)
     assert Point(5,0,0).unit().data.shape == (1,3)
 
 def test_angle_between():
-    with raises(ValueError):
-        Point(1,2,3).cos_angle_between(Point.zeros())
+    #with raises(ValueError):
+    Point(1,2,3).cos_angle_between(Point.zeros()) == P0()
 
     assert PX().cos_angle_between(PY()) == 0
 
@@ -59,12 +61,6 @@ def test_is_parallel():
     assert not Point(1,0, 0).is_parallel(Point(0,1, 0))
 
 
-@mark.skip("this is going to be picked up later with coord and Quaternion stuff")
-def test_rotate():
-    assert PX().rotate(np.identity(3)) == PX()
-
-    assert PX().rotate(np.array([[0, -1, 0], [1, 0, 0], [0, 0, 1]])) == Point(0, 1, 0)
-
 def test_scalar_projection():
     assert Point(1, 1, 0).scalar_projection(PX()) == 1
     assert P0().scalar_projection(Point(1, 1, 0)) == 0
@@ -90,3 +86,11 @@ def test_X():
 
 def test_to_rotation_matrix():
     np.testing.assert_array_equal(P0().to_rotation_matrix()[0],np.identity(3))
+
+
+def test_vector_projection():
+    res = Point.vector_projection(PX(1,20), PY(1))
+    assert res == P0()
+
+    res = Point.vector_projection(PZ(20), PZ(20,20))
+    assert res == PZ(20)

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/tests/test_quaternion.py

@@ -138,7 +138,8 @@ def test_body_rotate_zero():
     qinit = Quaternion.from_euler(Point(0, 0, 0))
     qdot = qinit.body_rotate(Point(0, 0, 0))
 
-    np.testing.assert_array_equal(list(qinit), list(qdot))
+    assert qinit == qdot
+#    np.testing.assert_array_equal(list(qinit), list(qdot))
 
 
 def test_to_from_axis_angle():

pfc_geometry-0.1.2/pfc_geometry.egg-info/top_level.txt

@@ -1 +0,0 @@
-geometry

{pfc_geometry-0.1.2 → pfc_geometry-0.1.4}/pfc_geometry.egg-info/requires.txt

@@ -1,3 +1,3 @@
-setuptools
 numpy
 pandas
+setuptools