rational-linkages 2.0.0__cp310-cp310-macosx_12_0_arm64.whl → 2.2.3__cp310-cp310-macosx_12_0_arm64.whl

rational_linkages/MotionFactorization.py

@@ -1,7 +1,8 @@
 from typing import Union
 
 import numpy as np
-import sympy as sp
+
+from sympy import Symbol, Poly
 
 from .DualQuaternion import DualQuaternion
 from .Linkage import Linkage
@@ -81,7 +82,7 @@ class MotionFactorization(RationalCurve):
 
     @staticmethod
     def get_polynomials_from_factorization(factors: list[DualQuaternion]) -> (
-            list)[sp.Poly]:
+            list)[Poly]:
         """
         Construct rational curve from Dual Quaternions equation factors
 
@@ -91,14 +92,14 @@ class MotionFactorization(RationalCurve):
         :return: motion curve using Sympy polynomials
         :rtype: RationalCurve
         """
-        t = sp.Symbol("t")
+        t = Symbol("t")
 
         polynomial_t = DualQuaternion([t, 0, 0, 0, 0, 0, 0, 0])
         polynomials_dq = DualQuaternion()
         for i in range(len(factors)):
             polynomials_dq = polynomials_dq * (polynomial_t - factors[i])
 
-        return [sp.Poly(polynom, t)
+        return [Poly(polynom, t)
                 for i, polynom in enumerate(polynomials_dq.array())]
 
     def get_symbolic_factors(self) -> list[DualQuaternion]:
@@ -108,7 +109,7 @@ class MotionFactorization(RationalCurve):
         :return: list of DualQuaternions representing the curve
         :rtype: list[DualQuaternion]
         """
-        t = sp.Symbol("t")
+        t = Symbol("t")
         polynomial_t = DualQuaternion([t, 0, 0, 0, 0, 0, 0, 0])
         return [polynomial_t - self.dq_axes[i] for i in range(len(self.dq_axes))]
 

rational_linkages/MotionInterpolation.py

@@ -1,20 +1,20 @@
-from typing import Union
 from copy import deepcopy
+from typing import Union
 from warnings import warn
 
-import sympy as sp
 import numpy as np
+import sympy as sp
 
 from .DualQuaternion import DualQuaternion
-from .RationalCurve import RationalCurve
-from .RationalDualQuaternion import RationalDualQuaternion
-from .TransfMatrix import TransfMatrix
 from .PointHomogeneous import PointHomogeneous
 from .Quaternion import Quaternion
 from .RationalBezier import RationalBezier
-
+from .RationalCurve import RationalCurve
+from .RationalDualQuaternion import RationalDualQuaternion
+from .TransfMatrix import TransfMatrix
 from .utils_rust import motion_interp_x3
 
+
 class MotionInterpolation:
     """
     Method for interpolation of poses by rational motion curve in SE(3).
@@ -367,7 +367,7 @@ class MotionInterpolation:
         :return: Polynomials of rational motion curve.
         :rtype: list[sp.Poly]
         """
-        from scipy.optimize import minimize  # inner import
+        from scipy.optimize import minimize  # lazy import
 
         mid_pose = DualQuaternion.random_on_study_quadric()
         mid_pose_tr = TransfMatrix(mid_pose.dq2matrix())

rational_linkages/NormalizedLine.py

@@ -399,7 +399,7 @@ class NormalizedLine:
         :return: evaluated line with float elements
         :rtype: NormalizedLine
         """
-        from sympy import Expr, Symbol, Number
+        from sympy import Expr, Number, Symbol
 
         t = Symbol("t")
 

rational_linkages/NormalizedPlane.py

@@ -2,8 +2,8 @@ from typing import Union
 
 import numpy as np
 
-from .PointHomogeneous import PointHomogeneous
 from .NormalizedLine import NormalizedLine
+from .PointHomogeneous import PointHomogeneous
 
 
 class NormalizedPlane:

rational_linkages/Plotter.py

@@ -1,5 +1,5 @@
+from .PlotterPyqtgraph import InteractivePlotter, PlotterPyqtgraph
 from .RationalMechanism import RationalMechanism
-from .PlotterPyqtgraph import PlotterPyqtgraph, InteractivePlotter
 
 
 class Plotter:

rational_linkages/PlotterMatplotlib.py

@@ -1,14 +1,14 @@
 from functools import wraps
 from itertools import cycle
-from os.path import join, isdir
 from os import makedirs
+from os.path import isdir, join
+from warnings import warn
 
 import numpy as np
-import matplotlib
-import matplotlib.pyplot as plt
-from matplotlib.widgets import Slider, TextBox
 
 from .DualQuaternion import DualQuaternion
+from .Linkage import LineSegment
+from .MiniBall import MiniBall
 from .MotionFactorization import MotionFactorization
 from .NormalizedLine import NormalizedLine
 from .PointHomogeneous import PointHomogeneous, PointOrbit
@@ -16,8 +16,20 @@ from .RationalBezier import RationalBezier
 from .RationalCurve import RationalCurve
 from .RationalMechanism import RationalMechanism
 from .TransfMatrix import TransfMatrix
-from .MiniBall import MiniBall
-from .Linkage import LineSegment
+
+# Try importing GUI components
+try:
+    import matplotlib
+    import matplotlib.pyplot as plt
+    from matplotlib.widgets import Slider, TextBox
+
+except (ImportError, OSError):
+    warn("Failed to import Matplotlib. Check the package installation.")
+
+    matplotlib = None
+    plt = None
+    Slider = None
+    TextBox = None
 
 
 class PlotterMatplotlib:
@@ -501,23 +513,25 @@ class PlotterMatplotlib:
         show_tool = kwargs.pop('show_tool', False)
         t = kwargs.pop('t', 0)
 
+        self._plot_tool_path(mechanism, **kwargs)
+
         # plot factorizations
         for factorization in mechanism.factorizations:
-            self._plot_motion_factorization(factorization, t=t, **kwargs)
+            self._plot_motion_factorization(factorization, t=t, **kwargs, color='black')
 
         if show_tool:
             # plot end effector triangle
-            pts0 = mechanism.factorizations[0].direct_kinematics_of_tool_with_link(t, mechanism.tool_frame.dq2point_via_matrix())
-            pts1 = mechanism.factorizations[1].direct_kinematics_of_tool_with_link(t, mechanism.tool_frame.dq2point_via_matrix())[::-1]
+            pts0 = mechanism.factorizations[0].direct_kinematics_of_tool_with_link(
+                t, mechanism.tool_frame.dq2point_via_matrix())
+            pts1 = mechanism.factorizations[1].direct_kinematics_of_tool_with_link(
+                t, mechanism.tool_frame.dq2point_via_matrix())[::-1]
             ee_points = np.concatenate((pts0, pts1))
 
         if 'label' not in kwargs:
             kwargs['label'] = "end effector"
 
         x, y, z = zip(*ee_points)
-        self.ax.plot(x, y, z, **kwargs)
-
-        self._plot_tool_path(mechanism, **kwargs)
+        self.ax.plot(x, y, z, color='black', **kwargs)
 
     @_plotting_decorator
     def _plot_tool_path(self, mechanism: RationalMechanism, **kwargs):
@@ -930,7 +944,7 @@ class PlotterMatplotlib:
         :param list list_of_angles: list of joint angles
         :param float sleep_time: time to wait between each frame
         """
-        from time import sleep  # inner import
+        from time import sleep  # lazy import
 
         t_angle = list_of_angles