rational-linkages 2.1.0__cp312-cp312-musllinux_1_2_aarch64.whl → 2.2.3__cp312-cp312-musllinux_1_2_aarch64.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

@@ -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/PlotterMatplotlib.py

@@ -2,11 +2,9 @@ from functools import wraps
 from itertools import cycle
 from os import makedirs
 from os.path import isdir, join
+from warnings import warn
 
-import matplotlib
-import matplotlib.pyplot as plt
 import numpy as np
-from matplotlib.widgets import Slider, TextBox
 
 from .DualQuaternion import DualQuaternion
 from .Linkage import LineSegment
@@ -19,6 +17,20 @@ from .RationalCurve import RationalCurve
 from .RationalMechanism import RationalMechanism
 from .TransfMatrix import TransfMatrix
 
+# 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:
     def __init__(self,
@@ -932,7 +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