rational-linkages 2.1.0__cp312-cp312-macosx_12_0_arm64.whl → 2.2.3__cp312-cp312-macosx_12_0_arm64.whl

rational_linkages/RationalBezier.py

@@ -2,7 +2,6 @@ from copy import deepcopy
 
 import numpy as np
 import sympy as sp
-from sympy.integrals.quadrature import gauss_legendre
 
 from .DualQuaternion import DualQuaternion
 from .MiniBall import MiniBall
@@ -93,7 +92,7 @@ class RationalBezier(RationalCurve):
         """
         Get the numerical coefficients of the Bezier curve
         """
-        from scipy.special import comb  # INNER IMPORT
+        from scipy.special import comb  # lazy import
 
         control_pts = np.array([point.array() for point in control_points])
         degree = len(control_points) - 1
@@ -210,7 +209,7 @@ class BezierSegment:
 
     @metric.setter
     def metric(self, metric: "AffineMetric"):
-        from .AffineMetric import AffineMetric  # inner import
+        from .AffineMetric import AffineMetric  # lazy import
 
         if isinstance(metric, AffineMetric):
             self._metric = metric

rational_linkages/RationalCurve.py

@@ -3,7 +3,6 @@ from typing import Union
 
 import numpy as np
 import sympy as sp
-from scipy.integrate import quad
 
 from .DualQuaternion import DualQuaternion
 from .PointHomogeneous import PointHomogeneous
@@ -136,7 +135,7 @@ class RationalCurve:
 
     @metric.setter
     def metric(self, metric: "AffineMetric"):
-        from .AffineMetric import AffineMetric  # inner import
+        from .AffineMetric import AffineMetric  # lazy import
 
         if isinstance(metric, AffineMetric):
             self._metric = metric
@@ -573,7 +572,7 @@ class RationalCurve:
         if not self.is_motion:
             raise ValueError("Not a motion curve, cannot split into Bezier curves.")
 
-        from .RationalBezier import BezierSegment  # inner import
+        from .RationalBezier import BezierSegment  # lazy import
 
         curve = self.get_curve_in_pr12()
 
@@ -657,6 +656,11 @@ class RationalCurve:
         :raises ValueError: if the interval values are identical
         :raises ValueError: if the number of segments is less than 1
         """
+        try:
+            from scipy.integrate import quad  # lazy import
+        except ImportError:
+            raise RuntimeError("Scipy import failed. Check the package installation.")
+
         if interval[0] > interval[1]:
             raise ValueError("The interval must be in the form [a, b] where a < b")
         elif interval[0] == interval[1]:
@@ -708,6 +712,11 @@ class RationalCurve:
         :return: t value that splits the curve into given segment length
         :rtype: float
         """
+        try:
+            from scipy.integrate import quad  # lazy import
+        except ImportError:
+            raise RuntimeError("Scipy import failed. Check the package installation.")
+
         # initial lower and upper bounds
         low = section_start
         high = curve_interval[1]  # start with the upper bound

rational_linkages/RationalDualQuaternion.py

@@ -1,5 +1,6 @@
 import numpy as np
-import sympy as sp
+
+from sympy import Rational
 
 from .DualQuaternion import DualQuaternion
 
@@ -12,7 +13,7 @@ class RationalDualQuaternion(DualQuaternion):
     """
     RationalDualQuaternion class representing a 8-dimensional dual quaternion.
     """
-    def __init__(self, study_parameters: list[sp.Rational]):
+    def __init__(self, study_parameters: list[Rational]):
         """
         RationalDualQuaternion class
 
@@ -34,7 +35,7 @@ class RationalDualQuaternion(DualQuaternion):
         """
         return f"{self.rational_numbers}"
 
-    def __getitem__(self, idx) -> sp.Rational:
+    def __getitem__(self, idx) -> Rational:
         """
         Get an element of DualQuaternion
 
@@ -50,6 +51,6 @@ class RationalDualQuaternion(DualQuaternion):
         Get the array of the rational numbers
 
         :return: Rational numbers
-        :rtype: sp.Matrix
+        :rtype: sympy.Matrix
         """
         return np.array(self.rational_numbers)

rational_linkages/RationalMechanism.py

@@ -110,7 +110,7 @@ class RationalMechanism(RationalCurve):
         This metric is used for collision detection.
         """
         if self._metric is None:
-            from .AffineMetric import AffineMetric  # inner import
+            from .AffineMetric import AffineMetric  # lazy import
             mechanism_points = self.points_at_parameter(0,
                                                         inverted_part=True,
                                                         only_links=False)
@@ -400,7 +400,7 @@ class RationalMechanism(RationalCurve):
         :return: list of TransfMatrix objects
         :rtype: list[TransfMatrix]
         """
-        from .TransfMatrix import TransfMatrix  # inner import
+        from .TransfMatrix import TransfMatrix  # lazy import
 
         screws = deepcopy(self.get_screw_axes())
 
@@ -942,7 +942,7 @@ class RationalMechanism(RationalCurve):
         """
         Perform singularity check of the mechanism.
         """
-        from .SingularityAnalysis import SingularityAnalysis  # inner import
+        from .SingularityAnalysis import SingularityAnalysis  # lazy import
 
         sa = SingularityAnalysis()
         return sa.check_singularity(self)
@@ -957,7 +957,7 @@ class RationalMechanism(RationalCurve):
             result of the optimization
         :rtype: list, list, float
         """
-        from .CollisionFreeOptimization import CollisionFreeOptimization  # inner import
+        from .CollisionFreeOptimization import CollisionFreeOptimization  # lazy import
 
         # get smallest polyline
         pts, points_params, res = CollisionFreeOptimization(self).smallest_polyline()

rational_linkages/SingularityAnalysis.py

@@ -1,4 +1,4 @@
-import sympy
+from sympy import Matrix
 
 from .Linkage import LineSegment
 from .RationalMechanism import RationalMechanism
@@ -49,8 +49,7 @@ class SingularityAnalysis:
         # normalization
 
 
-
-        jacobian = sympy.Matrix.zeros(6, len(algebraic_plucker_coords))
+        jacobian = Matrix.zeros(6, len(algebraic_plucker_coords))
         for i, plucker_line in enumerate(algebraic_plucker_coords):
             jacobian[:, i] = plucker_line.screw
 

rational_linkages/utils.py

@@ -13,7 +13,7 @@ def dq_algebraic2vector(ugly_expression: list) -> list:
     :return: 8-vector representation of the algebraic equation
     :rtype: list
     """
-    from sympy import expand, symbols  # inner import
+    from sympy import expand, symbols  # lazy import
     i, j, k, epsilon = symbols('i j k epsilon')
 
     expr = expand(ugly_expression)
@@ -41,7 +41,7 @@ def extract_coeffs(expr, var, deg: int, expand: bool = True):
     :rtype: list
     """
     if expand:
-        from sympy import expand  # inner import
+        from sympy import expand  # lazy import
         expr = expand(expr)
     return [expr.coeff(var, i) for i in range(deg, -1, -1)]
 
@@ -97,10 +97,67 @@ def is_package_installed(package_name: str) -> bool:
     """
     Check if a package is installed.
     """
-    from importlib.metadata import distribution
+    from importlib.metadata import distribution  # lazy import
 
     try:
         distribution(package_name)
         return True
     except ImportError:
         return False
+
+
+def tr_from_dh_rationally(t_theta, di, ai, t_alpha):
+    """
+    Create transformation matrix from DH parameters using Sympy in rational form.
+
+    The input shall be rational numbers, including the angles which are expected
+    to be parameters of tangent half-angle substitution, i.e., t_theta = tan(theta/2)
+    and t_alpha = tan(alpha/2).
+
+    :param sp.Rational t_theta: DH parameter theta in tangent half-angle form
+    :param sp.Rational di: DH parameter d, the offset along Z axis
+    :param sp.Rational ai: DH parameter a, the length along X axis
+    :param sp.Rational t_alpha: DH parameter alpha in tangent half-angle form
+
+    :return: 4x4 transformation matrix
+    :rtype: sp.Matrix
+    """
+    from sympy import Matrix, eye, Expr  # lazy import
+
+    if not all(isinstance(param, Expr) for param in [t_theta, di, ai, t_alpha]):
+        raise ValueError("All parameters must be of type sympy objects (Expr).")
+
+    s_th = 2*t_theta / (1 + t_theta**2)
+    c_th = (1 - t_theta**2) / (1 + t_theta**2)
+    s_al = 2*t_alpha / (1 + t_alpha**2)
+    c_al = (1 - t_alpha**2) / (1 + t_alpha**2)
+
+    mat = eye(4)
+    mat[1:4, 0] = Matrix([ai * c_th, ai * s_th, di])
+    mat[1, 1:4] = Matrix([[c_th, -s_th * c_al, s_th * s_al]])
+    mat[2, 1:4] = Matrix([[s_th, c_th * c_al, -c_th * s_al]])
+    mat[3, 1:4] = Matrix([[0, s_al, c_al]])
+    return mat
+
+
+def normalized_line_rationally(point, direction):
+    """
+    Create a normalized Plücker line from a point and a direction using Sympy.
+
+    The input shall be rational numbers, i.e. Sympy objects.
+
+    :param sp.Rational point:
+    :param sp.Rational direction:
+
+    :return: 6-vector representing the Plücker line
+    :rtype: sp.Matrix
+    """
+    from sympy import Matrix, Expr  # lazy import
+
+    if not all(isinstance(param, Expr) for param in point + direction):
+        raise ValueError("All parameters must be of type sympy objects (Expr).")
+
+    dir = Matrix(direction)
+    pt = Matrix(point)
+    mom = (-1 * dir).cross(pt)
+    return Matrix.vstack(dir, mom)

{rational_linkages-2.1.0.dist-info → rational_linkages-2.2.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rational-linkages
-Version: 2.1.0
+Version: 2.2.3
 Summary: Rational Linkages
 Author-email: Daniel Huczala <daniel.huczala@uibk.ac.at>
 License-Expression: GPL-3.0-or-later
@@ -14,15 +14,17 @@ Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: biquaternion-py>=1.2.0
-Requires-Dist: scipy>=1.10.0
+Requires-Dist: numpy>=1.10.0
 Requires-Dist: sympy>=1.10.0
 Requires-Dist: PyQt6>=6.2.0
 Requires-Dist: pyqtgraph>=0.12.4
 Requires-Dist: PyOpenGL>=3.0.0
+Requires-Dist: matplotlib>=3.9.0; platform_system == "Windows" and platform_machine == "ARM64"
 Provides-Extra: opt
 Requires-Dist: ipython>=8.0.0; extra == "opt"
-Requires-Dist: gmpy2>=2.2.0; extra == "opt"
+Requires-Dist: scipy>=1.10.0; extra == "opt"
 Requires-Dist: matplotlib>=3.9.0; extra == "opt"
+Requires-Dist: gmpy2>=2.2.0; (platform_system != "Windows" and platform_machine != "ARM64") and extra == "opt"
 Provides-Extra: exu
 Requires-Dist: exudyn>=1.9.0; extra == "exu"
 Requires-Dist: numpy-stl>=3.0.0; extra == "exu"
@@ -113,17 +115,28 @@ Using pip:
 
 <code>pip install rational-linkages</code>
 
-or
+or with optional dependencies:
 
-<code>pip install rational-linkages[opt]</code>
+<code>pip install rational-linkages[opt,exu]</code>
 
-Mac users might need to use backslashes to escape the brackets, e.g.:
+Mac/linux users might need to use backslashes to escape the brackets, e.g.:
 
-<code>pip install rational-linkages\\[opt\\]</code>
+<code>pip install rational-linkages\\[opt,exu\\]</code>
 
-for installing also optional dependencies (ipython - inline plotting, gmpy2 - faster
-symbolic computations, exudyn - multibody simulations, numpy-stl -
-work with meshes in exudyn).
+for installing also **opt**ional dependencies (scipy - optimization problems solving, ipython - inline plotting,  
+matplotlib - alternative engine for 3D plotting, gmpy2 - optimized symbolic computations) 
+and **exu**dyn dependencies (exudyn - multibody simulations, 
+numpy-stl + ngsolve - work with meshes in exudyn).
+
+On **Linux systems**, to run GUI interactive plotting, 
+some additional libraries are required for plotting with PyQt6. For example, 
+on Ubuntu, it can be installed as follows:
+
+   <code>sudo apt install libgl1-mesa-glx libxkbcommon-x11-0 libegl1 libdbus-1-3</code>
+
+or on Ubuntu 24.04 and higher:
+
+   <code>sudo apt install libgl1 libxkbcommon-x11-0 libegl1 libdbus-1-3</code>
 
 ### Install from source
 
@@ -143,21 +156,21 @@ work with meshes in exudyn).
     
    <code>pip install -e .[opt,dev,doc]</code> including the development and documentation dependencies. 
 
-   Mac or Linux users might need to use backslashes to escape the brackets, e.g.: 
+   Mac/linux users might need to use backslashes to escape the brackets, e.g.: 
 
    <code>pip install -e .\\[opt\\]</code>
 
-Additionally, on Linux systems, some additional libraries are required for plotting with PyQt6. For example, 
-on Ubuntu, it can be installed as follows:
 
-   <code>sudo apt install libgl1-mesa-glx libxkbcommon-x11-0 libegl1 libdbus-1-3</code>
 
-or on Ubuntu 24.04 and higher:
+To run the Rust functions, you need to install the [Rust toolchain](https://www.rust-lang.org) and 
+build the Rust code yourself. On top of that, on Windows, you need to install a 
+C++ build toolchain. In `Visual Studio Installer`, select: 
 
-   <code>sudo apt install libgl1 libxkbcommon-x11-0 libegl1 libdbus-1-3</code>
+* MSVC v143 - VS 2022 C++ x64/x86 build tools (latest)
+* Windows 11 SDK
+* C++ CMake tools for Windows
 
-To run the Rust functions, you need to install the [Rust toolchain](https://www.rust-lang.org) and 
-build the Rust code yourself, for example:
+Then, navigate to the `rational_linkages/rust` folder and run:
 
 <code>cargo build --release</code>
 

rational_linkages-2.2.3.dist-info/RECORD

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