plexus-python-common 1.0.62__py3-none-any.whl → 1.0.63__py3-none-any.whl

plexus/common/carto/OSMFile.py

@@ -5,7 +5,7 @@ import lxml.etree
 from plexus.common.carto.OSMNode import OSMNode
 from plexus.common.carto.OSMTags import OSMTags
 from plexus.common.carto.OSMWay import OSMWay
-from plexus.common.proj import Coord, Proj
+from plexus.common.utils.gisutils import Coord, Proj
 
 
 class OSMFile(object):

plexus/common/carto/OSMNode.py

@@ -1,7 +1,7 @@
 from iker.common.utils.strutils import repr_data
 
 from plexus.common.carto.OSMTags import OSMTags
-from plexus.common.proj import Coord
+from plexus.common.utils.gisutils import Coord
 
 
 class OSMNode(object):

plexus/common/{proj.py → utils/gisutils.py}

@@ -5,10 +5,111 @@ from typing import Annotated, Self
 import numpy as np
 import pydantic as pdt
 import pyproj
+import pyquaternion as pyquat
 from iker.common.utils.funcutils import singleton
 from iker.common.utils.strutils import parse_params_string, repr_data, str_conv
 
-from plexus.common.pose import Pose
+
+class Pose(object):
+    @classmethod
+    def from_numbers(
+        cls,
+        px: float,
+        py: float,
+        pz: float,
+        qx: float,
+        qy: float,
+        qz: float,
+        qw: float,
+        ts: float = 0,
+    ) -> Self:
+        """
+        Constructs a pose from numbers representing position and orientation
+        """
+        return Pose(ts, np.array([px, py, pz], dtype=np.float64), np.array([qw, qx, qy, qz], dtype=np.float64))
+
+    @classmethod
+    def add(cls, x: Self, d: Self) -> Self:
+        """
+        Performs pose SE3 addition, as x + d = y
+        """
+        xq = pyquat.Quaternion(x.q)
+        dq = pyquat.Quaternion(d.q)
+
+        yp = x.p + xq.rotate(d.p)
+        yq = xq * dq
+
+        return Pose(0, yp, yq.normalised.elements)
+
+    @classmethod
+    def sub(cls, y: Self, x: Self) -> Self:
+        """
+        Performs pose SE3 subtraction, as x + d = y => d = y - x
+        """
+        xq = pyquat.Quaternion(x.q)
+        yq = pyquat.Quaternion(y.q)
+
+        dp = xq.inverse.rotate(y.p - x.p)
+        dq = xq.inverse * yq
+
+        return Pose(0, dp, dq.normalised.elements)
+
+    @classmethod
+    def interpolate(cls, a: Self, b: Self, t: float) -> Self:
+        """
+        Interpolates between two given poses, as a * t + b * (1 - t)
+
+        :return: interpolated pose
+        """
+        ts = a.ts + (b.ts - a.ts) * t
+        p = a.p + (b.p - a.p) * t
+        q = pyquat.Quaternion.slerp(pyquat.Quaternion(a.q), pyquat.Quaternion(b.q), t)
+        return Pose(ts, p, q.normalised.elements)
+
+    def __init__(self, ts: float, p: np.ndarray, q: np.ndarray):
+        """
+        Represents a pose
+
+        :param ts: timestamp
+        :param p: position vector
+        :param q: orientation quaternion
+        """
+        self.ts = ts
+        self.p = p
+        self.q = q
+
+    def matrix(self) -> np.ndarray:
+        """
+        Returns the transformation matrix of this pose
+
+        :return: transformation matrix
+        """
+        r = pyquat.Quaternion(self.q).rotation_matrix
+        t = self.p[:, None]
+        return np.block([[r, t], [np.zeros((1, 3), dtype=np.float64), np.ones((1, 1), dtype=np.float64)]])
+
+    def translate(self, v: np.ndarray) -> np.ndarray:
+        """
+        Translate the given vector with the pose position
+
+        :param v: the vector to be translated
+
+        :return: translated vector
+        """
+        return self.p + v
+
+    def rotate(self, v: np.ndarray) -> np.ndarray:
+        """
+        Rotates the given vector with the pose orientation
+
+        :param v: the vector to be rotated
+
+        :return: rotated vector
+        """
+        return pyquat.Quaternion(self.q).rotate(v)
+
+    def __str__(self):
+        return repr_data(self)
 
 
 class Proj(ABC):

{plexus_python_common-1.0.62.dist-info → plexus_python_common-1.0.63.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: plexus-python-common
-Version: 1.0.62
+Version: 1.0.63
 Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13

{plexus_python_common-1.0.62.dist-info → plexus_python_common-1.0.63.dist-info}/RECORD

@@ -1,8 +1,6 @@
 plexus/common/__init__.py,sha256=uWSQ4w3n7-zO3xJA1MTde4zbyZ73W8eVQ2EcoDzHwqc,177
-plexus/common/pose.py,sha256=abF-kOZIApFoTaqBGWDAQne75y3dv7RpFmHiNO-drIM,2850
-plexus/common/proj.py,sha256=qs3UFLmZaDyxentQgK7suSqZ8_KXYSvvLQhuKzDBJlQ,8742
-plexus/common/carto/OSMFile.py,sha256=yKG0ImkUNOrOs6oiEANDKZ6KaQCTEaPSolYMVLACVB0,8136
-plexus/common/carto/OSMNode.py,sha256=XJkp-tD945tFz3MWO5v3IdGfsjZy3YZE_yaBNc4dTdM,593
+plexus/common/carto/OSMFile.py,sha256=niFPKMDxSrsgbRSVW1WuzIJpD1huikJo4LXgy_ufW4U,8146
+plexus/common/carto/OSMNode.py,sha256=MYm9haPzUDWNdmT4SeR-HiC2zP09wacjT5kKP5gpfAs,603
 plexus/common/carto/OSMTags.py,sha256=wGtdfl1gzuXMk75xU2cyeF6hwFdKADxq77fah7vrFwg,3450
 plexus/common/carto/OSMWay.py,sha256=zqSUzn_evoYwG51ZbSOCBbzHKQ2fFIDcaToYE9SVKxE,562
 plexus/common/carto/__init__.py,sha256=rmUEoSB4Rq3xmFGD16Y7zkjWpzbkxJgZEXt2Vnqxhws,264
@@ -16,6 +14,7 @@ plexus/common/utils/bagutils.py,sha256=X1za0tOStq5EY5qVfRbQDz7Ov-uoL53XeUuSI-EV2
 plexus/common/utils/config.py,sha256=uCzSYR9W-vNNZiRJ3FdiExuUazlDXY7xJtJaY11T_bA,2401
 plexus/common/utils/datautils.py,sha256=mgnr-dcHpw-Pk3qBud0lC3JX_pv-iKzI8llsPW9Q12g,9275
 plexus/common/utils/dockerutils.py,sha256=WPxQuabRWyyM8wpSSYhb_HZaOw5yZ2TbU2dEQ2xRIlQ,5787
+plexus/common/utils/gisutils.py,sha256=UR3uVoD1nAy0SWJ1AYWCUy94Lo8zNb4nv_JdpcANBDE,11462
 plexus/common/utils/jsonutils.py,sha256=hD3cFkBll0AIH3u5FniJSVAsyZpUosgARX4ayIJmY6s,3238
 plexus/common/utils/ormutils.py,sha256=IenV_DdgGPS7Xb3QuV0GuIYmYw0GbU4dAN2a2XDaoxs,59327
 plexus/common/utils/pathutils.py,sha256=hGJqSLj08tuOeZ7WeC5d4BtjnPI732BuntVQBQsqOaI,9581
@@ -24,7 +23,7 @@ plexus/common/utils/sqlutils.py,sha256=D6kTBjhO5YlNRt3uFlPt6z3uH61m9ajEzPYmsI6No
 plexus/common/utils/strutils.py,sha256=O9Inv4ffUTf6Xjc5ftoZwbIua1NeG7itCT9S3zjZxBc,16436
 plexus/common/utils/tagutils.py,sha256=Ga22WnUQxVbzFtGR8XyiRiZZnaddOhdHqBNVof40pqs,44514
 plexus/common/utils/testutils.py,sha256=GyrKOKfrl1Go8Q7tCZLybxYvVqyox1AtEFWzWoecNwg,6163
-plexus_python_common-1.0.62.dist-info/METADATA,sha256=u9CcV8NSA9Y3uSUjPpZpwPf3Wcp5SWcyKt6-ZakWbck,1481
-plexus_python_common-1.0.62.dist-info/WHEEL,sha256=aeYiig01lYGDzBgS8HxWXOg3uV61G9ijOsup-k9o1sk,91
-plexus_python_common-1.0.62.dist-info/top_level.txt,sha256=ug_g7CVwaMQuas5UzAXbHUrQvKGCn8ezc6ZNvvRlJOE,7
-plexus_python_common-1.0.62.dist-info/RECORD,,
+plexus_python_common-1.0.63.dist-info/METADATA,sha256=x1Njz90tSzZxpbdTNZHMD2IPGqmSiZxFFzoSLa9Ae40,1481
+plexus_python_common-1.0.63.dist-info/WHEEL,sha256=aeYiig01lYGDzBgS8HxWXOg3uV61G9ijOsup-k9o1sk,91
+plexus_python_common-1.0.63.dist-info/top_level.txt,sha256=ug_g7CVwaMQuas5UzAXbHUrQvKGCn8ezc6ZNvvRlJOE,7
+plexus_python_common-1.0.63.dist-info/RECORD,,

plexus/common/pose.py

@@ -1,107 +0,0 @@
-from typing import Self
-
-import numpy as np
-import pyquaternion as pyquat
-from iker.common.utils.strutils import repr_data
-
-
-class Pose(object):
-    @classmethod
-    def from_numbers(
-        cls,
-        px: float,
-        py: float,
-        pz: float,
-        qx: float,
-        qy: float,
-        qz: float,
-        qw: float,
-        ts: float = 0,
-    ) -> Self:
-        """
-        Constructs a pose from numbers representing position and orientation
-        """
-        return Pose(ts, np.array([px, py, pz], dtype=np.float64), np.array([qw, qx, qy, qz], dtype=np.float64))
-
-    @classmethod
-    def add(cls, x: Self, d: Self) -> Self:
-        """
-        Performs pose SE3 addition, as x + d = y
-        """
-        xq = pyquat.Quaternion(x.q)
-        dq = pyquat.Quaternion(d.q)
-
-        yp = x.p + xq.rotate(d.p)
-        yq = xq * dq
-
-        return Pose(0, yp, yq.normalised.elements)
-
-    @classmethod
-    def sub(cls, y: Self, x: Self) -> Self:
-        """
-        Performs pose SE3 subtraction, as x + d = y => d = y - x
-        """
-        xq = pyquat.Quaternion(x.q)
-        yq = pyquat.Quaternion(y.q)
-
-        dp = xq.inverse.rotate(y.p - x.p)
-        dq = xq.inverse * yq
-
-        return Pose(0, dp, dq.normalised.elements)
-
-    @classmethod
-    def interpolate(cls, a: Self, b: Self, t: float) -> Self:
-        """
-        Interpolates between two given poses, as a * t + b * (1 - t)
-
-        :return: interpolated pose
-        """
-        ts = a.ts + (b.ts - a.ts) * t
-        p = a.p + (b.p - a.p) * t
-        q = pyquat.Quaternion.slerp(pyquat.Quaternion(a.q), pyquat.Quaternion(b.q), t)
-        return Pose(ts, p, q.normalised.elements)
-
-    def __init__(self, ts: float, p: np.ndarray, q: np.ndarray):
-        """
-        Represents a pose
-
-        :param ts: timestamp
-        :param p: position vector
-        :param q: orientation quaternion
-        """
-        self.ts = ts
-        self.p = p
-        self.q = q
-
-    def matrix(self) -> np.ndarray:
-        """
-        Returns the transformation matrix of this pose
-
-        :return: transformation matrix
-        """
-        r = pyquat.Quaternion(self.q).rotation_matrix
-        t = self.p[:, None]
-        return np.block([[r, t], [np.zeros((1, 3), dtype=np.float64), np.ones((1, 1), dtype=np.float64)]])
-
-    def translate(self, v: np.ndarray) -> np.ndarray:
-        """
-        Translate the given vector with the pose position
-
-        :param v: the vector to be translated
-
-        :return: translated vector
-        """
-        return self.p + v
-
-    def rotate(self, v: np.ndarray) -> np.ndarray:
-        """
-        Rotates the given vector with the pose orientation
-
-        :param v: the vector to be rotated
-
-        :return: rotated vector
-        """
-        return pyquat.Quaternion(self.q).rotate(v)
-
-    def __str__(self):
-        return repr_data(self)