pygeodesy 24.3.24__py2.py3-none-any.whl

pygeodesy/vector2d.py

@@ -0,0 +1,785 @@
+
+# -*- coding: utf-8 -*-
+
+u'''2- or 3-D vectorial functions L{circin6}, L{circum3}, L{circum4_},
+L{iscolinearWith}, L{meeus2}, L{nearestOn}, L{radii11} and L{soddy4}.
+'''
+
+from pygeodesy.basics import len2, map2, _xnumpy
+from pygeodesy.constants import EPS, EPS0, EPS02, EPS4, INF, INT0, \
+                               _EPS4e8, isnear0, _0_0, _0_25, _0_5, _N_0_5, \
+                               _1_0, _1_0_1T, _N_1_0, _2_0, _N_2_0, _4_0
+from pygeodesy.errors import _and, _AssertionError, IntersectionError, NumPyError, \
+                              PointsError, TriangleError, _xError, _xkwds
+from pygeodesy.fmath import fabs, fdot, hypot, hypot2_, sqrt
+from pygeodesy.fsums import Fsum, fsumf_, fsum1f_
+from pygeodesy.interns import NN, _a_, _and_, _b_, _c_, _center_, _coincident_, \
+                             _colinear_, _COMMASPACE_, _concentric_, _few_, \
+                             _intersection_, _invalid_, _near_, _no_, _of_, \
+                             _radius_, _rIn_, _s_, _SPACE_, _too_, _with_
+# from pygeodesy.lazily import _ALL_LAZY  # from .named
+from pygeodesy.named import _ALL_LAZY, _NamedTuple, _Pass, Property_RO
+from pygeodesy.namedTuples import LatLon3Tuple, Vector2Tuple
+# from pygeodesy.props import Property_RO  # from .named
+from pygeodesy.streprs import Fmt, unstr
+from pygeodesy.units import Float, Int, Meter, Radius, Radius_
+from pygeodesy.vector3d import iscolinearWith, nearestOn, _nearestOn2, _nVc, _otherV3d, \
+                               trilaterate2d2, trilaterate3d2, Vector3d  # PYCHOK unused
+
+from contextlib import contextmanager
+# from math import fabs, sqrt  # from .fmath
+
+__all__ = _ALL_LAZY.vector2d
+__version__ = '23.11.17'
+
+_cA_        = 'cA'
+_cB_        = 'cB'
+_cC_        = 'cC'
+_deltas_    = 'deltas'
+_outer_     = 'outer'
+_raise_     = 'raise'  # PYCHOK used!
+_rank_      = 'rank'
+_residuals_ = 'residuals'
+_Type_      = 'Type'
+
+
+class Circin6Tuple(_NamedTuple):
+    '''6-Tuple C{(radius, center, deltas, cA, cB, cC)} with the C{radius}, the
+       trilaterated C{center} and contact points of the I{inscribed} aka I{In-
+       circle} of a triangle.  The C{center} is I{un}ambiguous if C{deltas} is
+       C{None}, otherwise C{center} is the mean and C{deltas} the differences of
+       the L{pygeodesy.trilaterate3d2} results.  Contact points C{cA}, C{cB} and
+       C{cC} are the points of tangency, aka the corners of the U{Contact Triangle
+       <https://MathWorld.Wolfram.com/ContactTriangle.html>}.
+    '''
+    _Names_ = (_radius_, _center_, _deltas_, _cA_,  _cB_,  _cC_)
+    _Units_ = ( Radius,  _Pass,    _Pass,    _Pass, _Pass, _Pass)
+
+
+class Circum3Tuple(_NamedTuple):  # in .latlonBase
+    '''3-Tuple C{(radius, center, deltas)} with the C{circumradius} and trilaterated
+       C{circumcenter} of the C{circumcircle} through 3 points (aka {Meeus}' Type II
+       circle) or the C{radius} and C{center} of the smallest I{Meeus}' Type I circle.
+       The C{center} is I{un}ambiguous if C{deltas} is C{None}, otherwise C{center}
+       is the mean and C{deltas} the differences of the L{pygeodesy.trilaterate3d2}
+       results.
+    '''
+    _Names_ = (_radius_, _center_, _deltas_)
+    _Units_ = ( Radius,  _Pass,    _Pass)
+
+
+class Circum4Tuple(_NamedTuple):
+    '''4-Tuple C{(radius, center, rank, residuals)} with C{radius} and C{center}
+       of a sphere I{least-squares} fitted through given points and the C{rank}
+       and C{residuals} -if any- from U{numpy.linalg.lstsq
+       <https://NumPy.org/doc/stable/reference/generated/numpy.linalg.lstsq.html>}.
+    '''
+    _Names_ = (_radius_, _center_, _rank_, _residuals_)
+    _Units_ = ( Radius,  _Pass,     Int,   _Pass)
+
+
+class Meeus2Tuple(_NamedTuple):
+    '''2-Tuple C{(radius, Type)} with C{radius} and I{Meeus}' C{Type} of the smallest
+       circle I{containing} 3 points.  C{Type} is C{None} for a I{Meeus}' Type II
+       C{circumcircle} passing through all 3 points.  Otherwise C{Type} is the center
+       of a I{Meeus}' Type I circle with 2 points on (a diameter of) and 1 point
+       inside the circle.
+    '''
+    _Names_ = (_radius_, _Type_)
+    _Units_ = ( Radius,  _Pass)
+
+
+class Radii11Tuple(_NamedTuple):
+    '''11-Tuple C{(rA, rB, rC, cR, rIn, riS, roS, a, b, c, s)} with the C{Tangent}
+       circle radii C{rA}, C{rB} and C{rC}, the C{circumradius} C{cR}, the C{Incircle}
+       radius C{rIn} aka C{inradius}, the inner and outer I{Soddy} circle radii C{riS}
+       and C{roS}, the sides C{a}, C{b} and C{c} and semi-perimeter C{s} of a triangle,
+       all in C{meter} conventionally.
+
+       @note: C{Circumradius} C{cR} and outer I{Soddy} radius C{roS} may be C{INF}.
+    '''
+    _Names_ = ('rA', 'rB', 'rC', 'cR', _rIn_, 'riS', 'roS', _a_, _b_, _c_, _s_)
+    _Units_ = ( Meter,) * len(_Names_)
+
+
+class Soddy4Tuple(_NamedTuple):
+    '''4-Tuple C{(radius, center, deltas, outer)} with C{radius} and (trilaterated)
+       C{center} of the I{inner} I{Soddy} circle and the radius of the C{outer}
+       I{Soddy} circle.  The C{center} is I{un}ambiguous if C{deltas} is C{None},
+       otherwise C{center} is the mean and C{deltas} the differences of the
+       L{pygeodesy.trilaterate3d2} results.
+
+       @note: The outer I{Soddy} radius C{outer} may be C{INF}.
+    '''
+    _Names_ = (_radius_, _center_, _deltas_, _outer_)
+    _Units_ = ( Radius,  _Pass,    _Pass,     Radius)
+
+
+def circin6(point1, point2, point3, eps=EPS4, useZ=True):
+    '''Return the radius and center of the I{inscribed} aka I{Incircle} of
+       a (2- or 3-D) triangle.
+
+       @arg point1: First point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point2: Second point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point3: Third point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @kwarg eps: Tolerance for function L{pygeodesy.trilaterate3d2} if
+                   C{B{useZ} is True} else L{pygeodesy.trilaterate2d2}.
+       @kwarg useZ: If C{True}, use the Z components, otherwise force C{z=INT0} (C{bool}).
+
+       @return: L{Circin6Tuple}C{(radius, center, deltas, cA, cB, cC)}.  The
+                C{center} and contact points C{cA}, C{cB} and C{cC}, each an
+                instance of B{C{point1}}'s (sub-)class, are co-planar with
+                the three given points.
+
+       @raise ImportError: Package C{numpy} not found, not installed or older
+                           than version 1.10 and C{B{useZ} is True}.
+
+       @raise IntersectionError: Near-coincident or -colinear points or
+                                 a trilateration or C{numpy} issue.
+
+       @raise TypeError: Invalid B{C{point1}}, B{C{point2}} or B{C{point3}}.
+
+       @see: Functions L{radii11} and L{circum3}, U{Contact Triangle
+             <https://MathWorld.Wolfram.com/ContactTriangle.html>} and
+             U{Incircle<https://MathWorld.Wolfram.com/Incircle.html>}.
+    '''
+    try:
+        return _circin6(point1, point2, point3, eps=eps, useZ=useZ)
+    except (AssertionError, TypeError, ValueError) as x:
+        raise _xError(x, point1=point1, point2=point2, point3=point3)
+
+
+def _circin6(point1, point2, point3, eps=EPS4, useZ=True, dLL3=False, **Vector_kwds):
+    # (INTERNAL) Radius, center, deltas, 3 contact points
+
+    def _fraction(r, a):
+        return (r / a) if a > EPS0 else _0_5
+
+    def _contact2(a, p2, r2, p3, r3, V, V_kwds):
+        c = p2.intermediateTo(p3, _fraction(r2, a)) if r2 > r3 else \
+            p3.intermediateTo(p2, _fraction(r3, a))
+        C = V(c.x, c.y, c.z, **V_kwds)
+        return c, C
+
+    t, p1, p2, p3 = _radii11ABC(point1, point2, point3, useZ=useZ)
+    V, r1, r2, r3 =  point1.classof, t.rA, t.rB, t.rC
+
+    c1, cA = _contact2(t.a, p2, r2, p3, r3, V, _xkwds(Vector_kwds, name=_cA_))
+    c2, cB = _contact2(t.b, p3, r3, p1, r1, V, _xkwds(Vector_kwds, name=_cB_))
+    c3, cC = _contact2(t.c, p1, r1, p2, r2, V, _xkwds(Vector_kwds, name=_cC_))
+
+    r    =  t.rIn
+    c, d = _tricenter3d2(c1, r, c2, r, c3, r, eps=eps, useZ=useZ, dLL3=dLL3,
+                       **_xkwds(Vector_kwds, Vector=V, name=circin6.__name__))
+    return Circin6Tuple(r, c, d, cA, cB, cC)
+
+
+def circum3(point1, point2, point3, circum=True, eps=EPS4, useZ=True):
+    '''Return the radius and center of the smallest circle I{through} or
+       I{containing} three (2- or 3-D) points.
+
+       @arg point1: First point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple} or
+                    C{Vector4Tuple}).
+       @arg point2: Second point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple} or
+                    C{Vector4Tuple}).
+       @arg point3: Third point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple} or
+                    C{Vector4Tuple}).
+       @kwarg circum: If C{True} return the C{circumradius} and C{circumcenter}
+                      always, ignoring the I{Meeus}' Type I case (C{bool}).
+       @kwarg eps: Tolerance for function L{pygeodesy.trilaterate3d2} if C{B{useZ}
+                   is True} else L{pygeodesy.trilaterate2d2}.
+       @kwarg useZ: If C{True}, use the Z components, otherwise force C{z=INT0} (C{bool}).
+
+       @return: A L{Circum3Tuple}C{(radius, center, deltas)}.  The C{center}, an
+                instance of B{C{point1}}'s (sub-)class, is co-planar with the three
+                given points.
+
+       @raise ImportError: Package C{numpy} not found, not installed or older
+                           than version 1.10 and C{B{useZ} is True}.
+
+       @raise IntersectionError: Near-coincident or -colinear points or
+                                 a trilateration or C{numpy} issue.
+
+       @raise TypeError: Invalid B{C{point1}}, B{C{point2}} or B{C{point3}}.
+
+       @see: Functions L{pygeodesy.circum4_} and L{pygeodesy.meeus2} and Meeus, J.
+             U{I{Astronomical Algorithms}<http://www.Agopax.IT/Libri_astronomia/pdf/
+             Astronomical%20Algorithms.pdf>}, 2nd Ed. 1998, page 127ff, U{circumradius
+             <https://MathWorld.Wolfram.com/Circumradius.html>} and U{circumcircle
+             <https://MathWorld.Wolfram.com/Circumcircle.html>}.
+    '''
+    try:
+        p1 = _otherV3d(useZ=useZ, point1=point1)
+        return _circum3(p1, point2, point3, circum=circum, eps=eps, useZ=useZ,
+                                            clas=point1.classof)
+    except (AssertionError, TypeError, ValueError) as x:
+        raise _xError(x, point1=point1, point2=point2, point3=point3, circum=circum)
+
+
+def _circum3(p1, point2, point3, circum=True, eps=EPS4, useZ=True, dLL3=False,
+                                 clas=Vector3d, **clas_kwds):  # in .latlonBase
+    # (INTERNAL) Radius, center, deltas
+    r, d, p2, p3 = _meeus4(p1, point2, point3, circum=circum, useZ=useZ,
+                                               clas=clas, **clas_kwds)
+    if d is None:  # Meeus' Type II or circum=True
+        kwds = _xkwds(clas_kwds, eps=eps, Vector=clas, name=circum3.__name__)
+        c, d = _tricenter3d2(p1, r, p2, r, p3, r, useZ=useZ, dLL3=dLL3, **kwds)
+    else:  # Meeus' Type I
+        c, d = d, None
+    return Circum3Tuple(r, c, d)
+
+
+def circum4_(*points, **useZ_Vector_and_kwds):
+    '''Best-fit a sphere through three or more (3-D) points.
+
+       @arg points: The points (each a C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    or C{Vector4Tuple}).
+       @kwarg useZ_Vector_and_kwds: Keyword arguments C{B{useZ}=True} (C{bool})
+                   to use the Z components, otherwise force all C{z=INT0}, class
+                   C{B{Vector}=None} to return the center point with optionally,
+                   additional nB{C{Vector}} keyword arguments, otherwise the
+                   first B{C{points}}' (sub-)class is used.
+
+       @return: L{Circum4Tuple}C{(radius, center, rank, residuals)} with C{center} an
+                instance of C{B{points}[0]}' (sub-)class or B{C{Vector}} if specified.
+
+       @raise ImportError: Package C{numpy} not found, not installed or older than
+                           version 1.10.
+
+       @raise NumPyError: Some C{numpy} issue.
+
+       @raise PointsError: Too few B{C{points}}.
+
+       @raise TypeError: One of the B{C{points}} is invalid.
+
+       @see: Functions L{pygeodesy.circum3} and L{pygeodesy.meeus2}, Jekel, Charles F. U{I{Least
+             Squares Sphere Fit}<https://Jekel.me/2015/Least-Squares-Sphere-Fit/>} Sep 13, 2015,
+             U{Appendix A<https://hdl.handle.net/10019.1/98627>}, U{numpy.linalg.lstsq<https://
+             NumPy.org/doc/stable/reference/generated/numpy.linalg.lstsq.html>} and U{Eberly 6
+             <https://www.sci.Utah.EDU/~balling/FEtools/doc_files/LeastSquaresFitting.pdf>}.
+    '''
+    def _useZ_kwds(useZ=True, **kwds):
+        return useZ, kwds
+
+    n, ps = len2(points)
+    if n < 3:
+        raise PointsError(points=n, txt=_too_(_few_))
+    useZ, kwds = _useZ_kwds(**useZ_Vector_and_kwds)
+
+    A, b = [], []
+    for i, p in enumerate(ps):
+        v = _otherV3d(useZ=useZ, i=i, points=p)
+        A.append(v.times(_2_0).xyz + _1_0_1T)
+        b.append(v.length2)
+
+    with _numpy(circum4_, n=n) as _np:
+        A = _np.array(A).reshape((n, 4))
+        b = _np.array(b).reshape((n, 1))
+        C, R, rk, _ = _np.least_squares4(A, b, rcond=None)  # to silence warning
+        C = map2(float, C)
+        R = map2(float, R)  # empty if rk < 4 or n <= 4
+
+    n = circum4_.__name__
+    c = Vector3d(*C[:3], name=n)
+    r = Radius(sqrt(fsumf_(C[3], *c.x2y2z2)), name=n)
+
+    c = _nVc(c, **_xkwds(kwds, clas=ps[0].classof, name=n))
+    return Circum4Tuple(r, c, rk, R)
+
+
+def _iscolinearWith(p, point1, point2, eps=EPS, useZ=True):
+    # (INTERNAL) Check colinear, see L{iscolinearWith} above,
+    # separated to allow callers to embellish any exceptions
+    p1 = _otherV3d(useZ=useZ, point1=point1)
+    p2 = _otherV3d(useZ=useZ, point2=point2)
+    n, _ = _nearestOn2(p, p1, p2, within=False, eps=eps)
+    return n is p1 or n.minus(p).length2 < eps
+
+
+def meeus2(point1, point2, point3, circum=False, useZ=True):
+    '''Return the radius and I{Meeus}' Type of the smallest circle I{through}
+       or I{containing} three (2- or 3-D) points.
+
+       @arg point1: First point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point2: Second point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point3: Third point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @kwarg circum: If C{True} return the C{circumradius} and C{circumcenter}
+                      always, overriding I{Meeus}' Type II case (C{bool}).
+       @kwarg useZ: If C{True}, use the Z components, otherwise force C{z=INT0} (C{bool}).
+
+       @return: L{Meeus2Tuple}C{(radius, Type)}, with C{Type} the C{circumcenter}
+                iff C{B{circum}=True}.
+
+       @raise IntersectionError: Near-coincident or -colinear points, iff C{B{circum}=True}.
+
+       @raise TypeError: Invalid B{C{point1}}, B{C{point2}} or B{C{point3}}.
+
+       @see: Functions L{pygeodesy.circum3} and L{pygeodesy.circum4_} and Meeus, J.
+             U{I{Astronomical Algorithms}<http://www.Agopax.IT/Libri_astronomia/pdf/
+             Astronomical%20Algorithms.pdf>}, 2nd Ed. 1998, page 127ff, U{circumradius
+             <https://MathWorld.Wolfram.com/Circumradius.html>} and U{circumcircle
+             <https://MathWorld.Wolfram.com/Circumcircle.html>}.
+    '''
+    try:
+        A = _otherV3d(useZ=useZ, point1=point1)
+        return _meeus2(A, point2, point3, circum, useZ=useZ, clas=point1.classof)
+    except (TypeError, ValueError) as x:
+        raise _xError(x, point1=point1, point2=point2, point3=point3, circum=circum)
+
+
+def _meeus2(A, point2, point3, circum, useZ=True, **clas_and_kwds):  # in .vector3d
+    # (INTERNAL) Radius and center or Meeus' Type
+    f = _circum3 if circum else _meeus4
+    t =  f(A, point2, point3, circum=circum, useZ=useZ, **clas_and_kwds)[:2]
+    return Meeus2Tuple(t)
+
+
+def _meeus4(A, point2, point3, circum=False, useZ=True, clas=None, **clas_kwds):
+    # (INTERNAL) Radius and Meeus' Type
+    B = p2 = _otherV3d(useZ=useZ, point2=point2)
+    C = p3 = _otherV3d(useZ=useZ, point3=point3)
+
+    a = B.minus(C).length2
+    b = C.minus(A).length2
+    c = A.minus(B).length2
+    if a < b:
+        a, b, A, B = b, a, B, A
+    if a < c:
+        a, c, A, C = c, a, C, A
+
+    if a > EPS02 and (circum or a < (b + c)):  # circumradius
+        b = sqrt(b / a)
+        c = sqrt(c / a)
+        R = Fsum(_1_0, b, c) * Fsum(_1_0, b, -c) * Fsum(_1_0, -b, c) * Fsum(_N_1_0, b, c)
+        r = R.fover(a)
+        if r < EPS02:
+            raise IntersectionError(_coincident_ if b < EPS0 or c < EPS0 else (
+                                    _colinear_ if _iscolinearWith(A, B, C) else _invalid_))
+        r = b * c / sqrt(r)
+        t = None  # Meeus' Type II
+    else:  # obtuse or right angle at A
+        r = sqrt(a * _0_25) if a > EPS02 else INT0
+        t = B.plus(C).times(_0_5)  # Meeus' Type I
+        if clas is not None:
+            t = clas(t.x, t.y, t.z, **_xkwds(clas_kwds, name=meeus2.__name__))
+    return r, t, p2, p3
+
+
+class _numpy(object):  # see also .formy._idllmn6, .geodesicw._wargs, .latlonBase._toCartesian3
+    '''(INTERNAL) Partial C{NumPy} wrapper.
+    '''
+    @contextmanager  # <https://www.Python.org/dev/peps/pep-0343/> Examples
+    def __call__(self, where, *args, **kwds):
+        '''(INTERNAL) Yield self with any errors raised as L{NumPyError}
+           embellished with all B{C{args}} and B{C{kwds}}.
+        '''
+        np = self.np
+        try:  # <https://NumPy.org/doc/stable/reference/generated/numpy.seterr.html>
+            e = np.seterr(all=_raise_)  # throw FloatingPointError for numpy errors
+            yield self
+        except Exception as x:  # mostly FloatingPointError?
+            t = unstr(where, *args, **kwds)
+            raise NumPyError(t, cause=x)  # _xError2?
+        finally:  # restore numpy error handling
+            np.seterr(**e)
+
+    @Property_RO
+    def array(self):
+        return self.np.array
+
+    @Property_RO
+    def least_squares4(self):
+        '''Linear least-squares function.
+        '''
+        return self.np.linalg.lstsq
+
+    @Property_RO
+    def np(self):
+        '''Import numpy 1.10+ once.
+        '''
+        return _xnumpy(self.__class__, 1, 10)
+
+    def null_space2(self, A, rcond=None):
+        '''Return the C{null_space} and C{rank} of matrix B{C{A}}.
+
+           @see: U{Source<https://docs.SciPy.org/doc/scipy/reference/generated/scipy.linalg.null_space.html>}
+                 U{SciPY Cookbook<https://SciPy-Cookbook.ReadTheDocs.io/items/RankNullspace.html>}, U{here
+                 <https://NumPy.org/doc/stable/reference/generated/numpy.linalg.svd.html>}, U{here
+                 <https://StackOverflow.com/questions/19820921>}, U{here
+                 <https://StackOverflow.com/questions/2992947>} and U{here
+                 <https://StackOverflow.com/questions/5889142>}.
+        '''
+        def _Error(txt=self.null_space2.__name__, **kwds):
+            return _AssertionError(txt=txt, **kwds)
+
+        np = self.np
+        A  = np.array(A)
+        m  = max(A.shape)
+        if m != 4:  # for this usage
+            raise _Error(shape=m)
+        # if needed, square A, pad with zeros
+        A = np.resize(A, m * m).reshape(m, m)
+#       try:  # no np.linalg.null_space <https://docs.SciPy.org/doc/>
+#           Z = scipy.linalg.null_space(A)  # XXX no scipy.linalg?
+#           return Z, ...
+#       except AttributeError:
+#           pass
+        U, S, V = np.linalg.svd(A)
+        s = max(EPS, rcond) if rcond else (EPS * max(U.shape[0], V.shape[1]))
+        t = max(EPS, float(np.max(S) * s))  # abs_tol, rel_tol * largest singular
+        r = int(np.sum(S > t))  # rank
+        if r == 3:  # get null_space
+            Z = np.transpose(V[r:])
+            s = map2(int, Z.shape)
+            if s != (m, 1):  # bad null_space shape
+                raise _Error(shape=s, m=m)
+            D = A.dot(Z)  # near-zeros-vector
+            n = float(np.linalg.norm(D, INF))  # INF = max(fabs(D)), 2 = hypot_(*D)
+            if n > t:  # largest exceed tol
+                raise _Error(dot=tuple(D.ravel()), norm=n, tol=t)
+        else:  # coincident, colinear, concentric centers, ambiguous, etc.
+            Z = None
+        # del A, S, U, V  # release numpy
+        return Z, r
+
+    @Property_RO
+    def pseudo_inverse(self):
+        '''Moore-Penrose pseudo-inverse function.
+        '''
+        return self.np.linalg.pinv
+
+    def real_roots(self, *coeffs):
+        '''Compute the real, non-complex roots of a polynomial.
+        '''
+        np = self.np
+        rs = np.polynomial.polynomial.polyroots(coeffs)
+        return tuple(float(r) for r in rs if not np.iscomplex(r))
+
+_numpy = _numpy()  # PYCHOK singleton
+
+
+def radii11(point1, point2, point3, useZ=True):
+    '''Return the radii of the C{In-}, I{Soddy} and C{Tangent} circles of a
+       (2- or 3-D) triangle.
+
+       @arg point1: First point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point2: Second point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point3: Third point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @kwarg useZ: If C{True}, use the Z components, otherwise force C{z=INT0} (C{bool}).
+
+       @return: L{Radii11Tuple}C{(rA, rB, rC, cR, rIn, riS, roS, a, b, c, s)}.
+
+       @raise TriangleError: Near-coincident or -colinear points.
+
+       @raise TypeError: Invalid B{C{point1}}, B{C{point2}} or B{C{point3}}.
+
+       @see: U{Circumradius<https://MathWorld.Wolfram.com/Circumradius.html>},
+             U{Incircle<https://MathWorld.Wolfram.com/Incircle.html>}, U{Soddy
+             Circles<https://MathWorld.Wolfram.com/SoddyCircles.html>} and
+             U{Tangent Circles<https://MathWorld.Wolfram.com/TangentCircles.html>}.
+    '''
+    try:
+        return _radii11ABC(point1, point2, point3, useZ=useZ)[0]
+    except (TypeError, ValueError) as x:
+        raise _xError(x, point1=point1, point2=point2, point3=point3)
+
+
+def _radii11ABC(point1, point2, point3, useZ=True):
+    # (INTERNAL) Tangent, Circum, Incircle, Soddy radii, sides and semi-perimeter
+    A = _otherV3d(useZ=useZ, point1=point1, NN_OK=False)
+    B = _otherV3d(useZ=useZ, point2=point2, NN_OK=False)
+    C = _otherV3d(useZ=useZ, point3=point3, NN_OK=False)
+
+    a = B.minus(C).length
+    b = C.minus(A).length
+    c = A.minus(B).length
+
+    S = Fsum(a, b, c) * _0_5
+    s = float(S)  # semi-perimeter
+    if s > EPS0:
+        rs = float(S - a), float(S - b), float(S - c)
+        r3, r2, r1 = sorted(rs)  # r3 <= r2 <= r1
+        if r3 > EPS0:  # and r2 > EPS0 and r1 > EPS0
+            r3_r1 = r3 / r1
+            r3_r2 = r3 / r2
+            # t = r1 * r2 * r3 * (r1 + r2 + r3)
+            #   = r1**2 * r2 * r3 * (1 + r2 / r1 + r3 / r1)
+            #   = (r1 * r2)**2 * (r3 / r2) * (1 + r2 / r1 + r3 / r1)
+            t = r3_r2 * fsum1f_(_1_0, r2 / r1, r3_r1)  # * (r1 * r2)**2
+            if t > EPS02:
+                t = sqrt(t) * _2_0  # * r1 * r2
+                # d = r1 * r2 + r2 * r3 + r3 * r1
+                #   = r1 * (r2 + r2 * r3 / r1 + r3)
+                #   = r1 * r2 * (1 + r3 / r1 + r3 / r2)
+                d = fsum1f_(_1_0, r3_r1, r3_r2)  # * r1 * r2
+                # si/o = r1 * r2 * r3 / (r1 * r2 * (d +/- t))
+                #      = r3 / (d +/- t)
+                si =  r3 / (d + t)
+                so = (r3 / (d - t)) if d > t else INF
+                # ci = sqrt(r1 * r2 * r3 / s)
+                #    = r1 * sqrt(r2 * r3 / r1 / s)
+                ci = r1 * sqrt(r2 * r3_r1 / s)
+                # co = a * b * c / (4 * ci * s)
+                t  = ci * s * _4_0
+                co = (a * b * c / t) if t > EPS0 else INF
+                r1, r2, r3 = rs  # original order
+                t = Radii11Tuple(r1, r2, r3, co, ci, si, so, a, b, c, s)
+                return t, A, B, C
+
+    raise TriangleError(_near_(_coincident_) if min(a, b, c) < EPS0 else (
+                        _colinear_ if _iscolinearWith(A, B, C) else _invalid_))
+
+
+def soddy4(point1, point2, point3, eps=EPS4, useZ=True):
+    '''Return the radius and center of the C{inner} I{Soddy} circle of a
+       (2- or 3-D) triangle.
+
+       @arg point1: First point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point2: Second point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @arg point3: Third point (C{Cartesian}, L{Vector3d}, C{Vector3Tuple},
+                    C{Vector4Tuple} or C{Vector2Tuple} if C{B{useZ}=False}).
+       @kwarg eps: Tolerance for function L{pygeodesy.trilaterate3d2} if
+                   C{B{useZ} is True} otherwise L{pygeodesy.trilaterate2d2}.
+       @kwarg useZ: If C{True}, use the Z components, otherwise force C{z=INT0} (C{bool}).
+
+       @return: L{Soddy4Tuple}C{(radius, center, deltas, outer)}.  The C{center},
+                an instance of B{C{point1}}'s (sub-)class, is co-planar with the
+                three given points.  The C{outer} I{Soddy} radius may be C{INF}.
+
+       @raise ImportError: Package C{numpy} not found, not installed or older
+                           than version 1.10 and C{B{useZ} is True}.
+
+       @raise IntersectionError: Near-coincident or -colinear points or
+                                 a trilateration or C{numpy} issue.
+
+       @raise TypeError: Invalid B{C{point1}}, B{C{point2}} or B{C{point3}}.
+
+       @see: Functions L{radii11} and L{circum3} and U{Soddy Circles
+             <https://MathWorld.Wolfram.com/SoddyCircles.html>}.
+    '''
+    t, p1, p2, p3 = _radii11ABC(point1, point2, point3, useZ=useZ)
+
+    r    =  t.riS
+    c, d = _tricenter3d2(p1, t.rA + r,
+                         p2, t.rB + r,
+                         p3, t.rC + r, eps=eps, useZ=useZ,
+                                       Vector=point1.classof, name=soddy4.__name__)
+    return Soddy4Tuple(r, c, d, t.roS)
+
+
+def _tricenter3d2(p1, r1, p2, r2, p3, r3, eps=EPS4, useZ=True, dLL3=False, **kwds):
+    # (INTERNAL) Trilaterate and disambiguate the 3-D center
+    d, kwds = None, _xkwds(kwds, eps=eps, coin=True)
+    if useZ and p1.z != p2.z != p3.z:  # ignore z if all match
+        a, b = _trilaterate3d2(p1, r1, p2, r2, p3, r3, **kwds)
+        if a is b:  # no unambiguity
+            c = a  # == b
+        else:
+            c = a.plus(b).times(_0_5)  # mean
+            if not a.isconjugateTo(b, minum=0, eps=eps):
+                if dLL3:  # deltas as (lat, lon, height)
+                    a = a.toLatLon()
+                    b = b.toLatLon()
+                    d = LatLon3Tuple(b.lat    - a.lat,
+                                     b.lon    - a.lon,
+                                     b.height - a.height, name=_deltas_)
+                else:
+                    d = b.minus(a)  # vectorial deltas
+    else:
+        if useZ:  # pass z to Vector if given
+            kwds = _xkwds(kwds, z=p1.z)
+        c = _trilaterate2d2(p1.x, p1.y, r1,
+                            p2.x, p2.y, r2,
+                            p3.x, p3.y, r3, **kwds)
+    return c, d
+
+
+def _trilaterate2d2(x1, y1, radius1, x2, y2, radius2, x3, y3, radius3,
+                                             coin=False, eps=None,
+                                             Vector=None, **Vector_kwds):
+    # (INTERNAL) Trilaterate three circles, see L{pygeodesy.trilaterate2d2}
+
+    def _abct4(x1, y1, r1, x2, y2, r2):
+        a =  x2 - x1
+        b =  y2 - y1
+        t = _tri3near2far(r1, r2, hypot(a, b), coin)
+        c = _0_0 if t else (hypot2_(r1, x2, y2) - hypot2_(r2, x1, y1))
+        return a, b, c, t
+
+    def _astr(**kwds):  # kwds as (name=value, ...) strings
+        return Fmt.PAREN(_COMMASPACE_(*(Fmt.EQUALg(*t) for t in kwds.items())))
+
+    r1 = Radius_(radius1=radius1)
+    r2 = Radius_(radius2=radius2)
+    r3 = Radius_(radius3=radius3)
+
+    a, b, c, t = _abct4(x1, y1, r1, x2, y2, r2)
+    if t:
+        raise IntersectionError(_and(_astr(x1=x1, y1=y1, radius1=r1),
+                                     _astr(x2=x2, y2=y2, radius2=r2)), txt=t)
+
+    d, e, f, t = _abct4(x2, y2, r2, x3, y3, r3)
+    if t:
+        raise IntersectionError(_and(_astr(x2=x2, y2=y2, radius2=r2),
+                                     _astr(x3=x3, y3=y3, radius3=r3)), txt=t)
+
+    _, _, _, t = _abct4(x3, y3, r3, x1, y1, r1)
+    if t:
+        raise IntersectionError(_and(_astr(x3=x3, y3=y3, radius3=r3),
+                                     _astr(x1=x1, y1=y1, radius1=r1)), txt=t)
+
+    q = (a * e - b * d) * _2_0
+    if isnear0(q):
+        t = _no_(_intersection_)
+        raise IntersectionError(_and(_astr(x1=x1, y1=y1, radius1=r1),
+                                     _astr(x2=x2, y2=y2, radius2=r2),
+                                     _astr(x3=x3, y3=y3, radius3=r3)), txt=t)
+    t = Vector2Tuple((c * e - b * f) / q,
+                     (a * f - c * d) / q, name=trilaterate2d2.__name__)
+
+    if eps and eps > 0:  # check distances to center vs radius
+        for x, y, r in ((x1, y1, r1), (x2, y2, r2), (x3, y3, r3)):
+            d = hypot(x - t.x, y - t.y)
+            e = fabs(d - r)
+            if e > eps:
+                t = _and(Float(delta=e).toRepr(), r.toRepr(),
+                         Float(distance=d).toRepr(), t.toRepr())
+                raise IntersectionError(t, txt=Fmt.exceeds_eps(eps))
+
+    if Vector is not None:
+        t = Vector(t.x, t.y, **_xkwds(Vector_kwds, name=t.name))
+    return t
+
+
+def _trilaterate3d2(c1, r1, c2, r2, c3, r3, eps=EPS, coin=False,
+                                          **clas_Vector_and_kwds):
+    # (INTERNAL) Intersect three spheres or circles, see function
+    # L{pygeodesy.trilaterate3d2}, separated to allow callers to
+    # embellish exceptions, like C{FloatingPointError}s from C{numpy}
+
+    def _F3d2(F):
+        # map numpy 4-vector to floats tuple and Vector3d
+        T = map2(float, F)
+        return T, Vector3d(*T[1:])
+
+    def _N3(t01, x, z):
+        # compute x, y and z and return as B{C{clas}} or B{C{Vector}}
+        v = x.plus(z.times(t01))
+        n = trilaterate3d2.__name__
+        return _nVc(v, **_xkwds(clas_Vector_and_kwds, name=n))
+
+    c2 = _otherV3d(center2=c2, NN_OK=False)
+    c3 = _otherV3d(center3=c3, NN_OK=False)
+    rs = (r1, Radius_(radius2=r2, low=EPS),
+              Radius_(radius3=r3, low=EPS))
+
+    # get matrix A[3 x 4], its pseudo-inverse and null_space Z
+    A = [(_1_0_1T + c.times(_N_2_0).xyz) for c in (c1, c2, c3)]
+    with _numpy(trilaterate3d2, A=A, eps=eps) as _np:
+        Z, _ = _np.null_space2(A, eps)
+        if Z is not None:
+            Z, z = _F3d2(Z)  # [4 x 1]
+            z2 =  z.length2
+            A  = _np.pseudo_inverse(A)  # [4 x 3]
+            bs = [c.length2 for c in (c1, c2, c3)]
+            # perturbe radii and vector b slightly by eps and eps * 4
+            for p in _tri5perturbs(eps, min(rs)):
+                b = [((r + p)**2 - b) for r, b in zip(rs, bs)]  # [3 x 1]
+                X, x = _F3d2(A.dot(b))
+                # quadratic polynomial, coefficients ordered (^0, ^1, ^2)
+                t = _np.real_roots(fdot(X, _N_1_0, *x.xyz),
+                                   fdot(Z, _N_0_5, *x.xyz) * _2_0, z2)
+                if t:
+                    v = _N3(t[0], x, z)
+                    if len(t) < 2:  # one intersection
+                        t = v, v
+                    elif fabs(t[0] - t[1]) < eps:  # abutting
+                        t = v, v
+                    else:  # "lowest" intersection first (to avoid test failures)
+                        u = _N3(t[1], x, z)
+                        t = (u, v) if u.x < v.x else (v, u)
+                    return t
+
+    # coincident, concentric, colinear, too distant, no intersection:
+    # create the explanation and and throw an IntersectionError
+
+    def _no_intersection(coin):
+        t = _no_(_intersection_)
+        if coin:
+            def _reprs(*crs):
+                return _and(*map(repr, crs))
+
+            r =  repr(r1) if r1 == r2 == r3 else _reprs(r1, r2, r3)
+            t = _SPACE_(t, _of_, _reprs(c1, c2, c3), _with_, _radius_, r)
+        elif Z is None:
+            t = _COMMASPACE_(t, _no_(_numpy.null_space2.__name__))
+        return t
+
+    t = _tri4near2far(c1, r1, c2, r2, coin) or \
+        _tri4near2far(c1, r1, c3, r3, coin) or \
+        _tri4near2far(c2, r2, c3, r3, coin) or (
+        _colinear_ if _iscolinearWith(c1, c2, c3, eps=eps) else
+        _no_intersection(coin))
+    raise IntersectionError(t, txt=None)
+
+
+def _tri3near2far(r1, r2, h, coin):
+    # check for near-coincident/-concentric or too distant spheres/circles
+    return _too_(Fmt.distant(h)) if h > (r1 + r2) else (_near_(
+           _coincident_ if coin else _concentric_) if h < fabs(r1 - r2) else NN)
+
+
+def _tri4near2far(c1, r1, c2, r2, coin):
+    # check for near-coincident/-concentric or too distant spheres/circles
+    t = _tri3near2far(r1, r2, c1.minus(c2).length, coin)
+    return _SPACE_(c1.name, _and_, c2.name, t) if t else NN
+
+
+def _tri5perturbs(eps, r):
+    # perturb the radii to handle this corner case
+    # <https://GitHub.com/mrJean1/PyGeodesy/issues/49>
+    yield _0_0
+    if eps and eps > 0:
+        p = max(eps, EPS)
+        yield  p
+        m = min(p, r)
+        yield -m
+        q = max(eps * _4_0, _EPS4e8)
+        if q > p:
+            yield q
+            q = min(q, r)
+            if q > m:
+                yield -q
+
+# **) MIT License
+#
+# Copyright (C) 2016-2024 -- mrJean1 at Gmail -- All Rights Reserved.
+#
+# 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.