rational-linkages 2.1.0__cp313-cp313-win_amd64.whl → 2.2.0__cp313-cp313-win_amd64.whl

rational_linkages/CollisionAnalyser.py

@@ -1,8 +1,8 @@
 import numpy
-import sympy
-from scipy.optimize import minimize
 
-from . import LineSegment
+from sympy import symbols, Poly
+
+from .Linkage import LineSegment
 from .DualQuaternion import DualQuaternion
 from .NormalizedLine import NormalizedLine
 from .PointHomogeneous import PointHomogeneous, PointOrbit
@@ -47,11 +47,11 @@ class CollisionAnalyser:
 
         relative_motions = branch0 + branch1[::-1]
 
-        t = sympy.symbols('t')
+        t = symbols('t')
 
         motions = []
         for motion in relative_motions:
-            motions.append(RationalCurve([sympy.Poly(c, t, greedy=False)
+            motions.append(RationalCurve([Poly(c, t, greedy=False)
                                           for c in motion],
                                          metric=self.metric))
         return motions
@@ -296,6 +296,11 @@ class CollisionAnalyser:
         """
         Optimize the link control points to avoid collisions with the bounding orbits.
         """
+        try:
+            from scipy.optimize import minimize  # lazy import
+        except ImportError:
+            raise RuntimeError("Scipy import failed. Check its installation.")
+
         def flatten_cps(cps):
             return numpy.array([cp.normalized_in_3d() for cp in cps]).flatten()
 
@@ -348,11 +353,11 @@ class CollisionAnalyser:
         :param min_splits: Minimum number of splits for the bezier curves.
         """
 
-        t = sympy.symbols('t')
+        t = symbols('t')
         motions = []
         for i, idx in enumerate(reduced_indices):
             rel_motion = self.mechanism.relative_motion(segment_id_number, idx)
-            motions.append(RationalCurve([sympy.Poly(c, t, greedy=False)
+            motions.append(RationalCurve([Poly(c, t, greedy=False)
                                           for c in rel_motion],
                                          metric=self.metric))
 

rational_linkages/CollisionFreeOptimization.py

@@ -30,7 +30,10 @@ class CollisionFreeOptimization:
             parameters of the points, result of the optimization
         :rtype: tuple
         """
-        from scipy.optimize import minimize
+        try:
+            from scipy.optimize import minimize  # lazy import
+        except ImportError:
+            raise RuntimeError("Scipy import failed. Check its installation.")
 
         # get the axes represented as normalized lines
         if len(self.mechanism.factorizations) == 1:

rational_linkages/DualQuaternion.py

@@ -226,10 +226,13 @@ class DualQuaternion:
         :return: DualQuaternion with rational elements
         :rtype: DualQuaternion
         """
-        from sympy import Rational, nsimplify
+        from sympy import Rational
 
         if study_parameters is not None:
-            rational_numbers = [nsimplify(x, tolerance=1*(-10)) for x in study_parameters]
+            rational_numbers = [x if isinstance(x, Expr)
+                                else Rational(*x) if isinstance(x, tuple)
+                                else Rational(x)
+                                for x in study_parameters]
         else:
             rational_numbers = [Rational(1), Rational(0), Rational(0), Rational(0),
                                 Rational(0), Rational(0), Rational(0), Rational(0)]

rational_linkages/FactorizationProvider.py

@@ -3,7 +3,8 @@ from warnings import warn
 
 import biquaternion_py
 import numpy as np
-import sympy as sp
+
+from sympy import Symbol, Rational
 
 from .DualQuaternion import DualQuaternion
 from .MotionFactorization import MotionFactorization
@@ -45,7 +46,7 @@ class FactorizationProvider:
 
         :warning: If the given curve has not only rational numbers as input.
         """
-        t = sp.Symbol("t")
+        t = Symbol("t")
 
         if isinstance(curve, RationalCurve):
             bi_quat = biquaternion_py.BiQuaternion(curve.extract_expressions())
@@ -58,7 +59,7 @@ class FactorizationProvider:
             poly_coeffs = bi_poly.all_coeffs()
             for i in range(len(poly_coeffs)):
                 for j in range(len(poly_coeffs[i].args)):
-                    if not isinstance(poly_coeffs[i].args[j], sp.Rational):
+                    if not isinstance(poly_coeffs[i].args[j], Rational):
                         warn('The given curve has not only rational numbers as input. The factorization will be performed with floating point numbers, but may be instable.')
                         break
 
@@ -92,7 +93,7 @@ class FactorizationProvider:
                          'as input. The factorization will be performed with floating '
                          'point numbers, but may be instable.')
 
-        t = sp.Symbol("t")
+        t = Symbol("t")
 
         bi_poly = t - biquaternion_py.BiQuaternion(factorization.dq_axes[0].array())
         for i in range(1, factorization.number_of_factors):
@@ -147,7 +148,7 @@ class FactorizationProvider:
         :return: The rotation axis of the factor.
         :rtype: DualQuaternion
         """
-        t = sp.Symbol("t")
+        t = Symbol("t")
         t_dq = DualQuaternion([t, 0, 0, 0, 0, 0, 0, 0])
 
         factor_dq = DualQuaternion(factor.poly.coeffs)

rational_linkages/MiniBall.py

@@ -1,5 +1,4 @@
 import numpy as np
-from scipy.optimize import minimize
 
 from .AffineMetric import AffineMetric
 from .PointHomogeneous import PointHomogeneous
@@ -55,6 +54,14 @@ class MiniBall:
         return PointHomogeneous(center), radius_squared
 
     def get_ball_minimize(self):
+        """
+        Find the smallest ball containing all given points using optimization
+        """
+        try:
+            from scipy.optimize import minimize  # lazy import
+        except ImportError:
+            raise RuntimeError("Scipy import failed. Check the package installation.")
+
         def objective_function(x):
             """
             Objective function to minimize the squared radius r^2 of the ball

rational_linkages/MotionApproximation.py

@@ -1,13 +1,17 @@
 from typing import Union
 
 import numpy as np
-from scipy.optimize import minimize
 
 from .AffineMetric import AffineMetric
 from .DualQuaternion import DualQuaternion
 from .PointHomogeneous import PointHomogeneous
 from .RationalCurve import RationalCurve
 
+try:
+    from scipy.optimize import minimize  # lazy import, optional dependency
+except ImportError:
+    minimize = None
+
 ### NOT YET in the documentation ### TODO: add to docs
 
 

rational_linkages/MotionDesigner.py

@@ -1,25 +1,36 @@
 import sys
-from typing import Union
-
 import numpy as np
-import pyqtgraph.opengl as gl
 
-# PyQt and Pyqtgraph imports
-from PyQt6 import QtCore, QtWidgets
+from typing import Union
+from warnings import warn
 
-# Import your custom classes (adjust the import paths as needed)
 from .DualQuaternion import DualQuaternion
 from .MotionInterpolation import MotionInterpolation
-from .PlotterPyqtgraph import (
-    FramePlotHelper,
-    InteractivePlotterWidget,
-    PlotterPyqtgraph,
-)
 from .PointHomogeneous import PointHomogeneous
 from .RationalCurve import RationalCurve
 from .RationalMechanism import RationalMechanism
 from .TransfMatrix import TransfMatrix
 
+# Try importing GUI components
+try:
+    import pyqtgraph.opengl as gl
+    from PyQt6 import QtCore, QtWidgets
+    from .PlotterPyqtgraph import (
+        FramePlotHelper,
+        InteractivePlotterWidget,
+        PlotterPyqtgraph,
+    )
+except (ImportError, OSError):
+    warn("Failed to import OpenGL or PyQt6. If you expect interactive GUI to work, "
+         "please check the package installation.")
+
+    gl = None
+    QtCore = None
+    QtWidgets = None
+    FramePlotHelper = None
+    InteractivePlotterWidget = None
+    PlotterPyqtgraph = None
+
 
 class MotionDesigner:
     """
@@ -29,14 +40,16 @@ class MotionDesigner:
 
     :examples:
 
-    .. testcode:: [motiondesigner_example1]
+    Run motion designer without initial points or poses:
+
+    .. testcode:: [motiondesigner_ex1]
 
         from rational_linkages import MotionDesigner
 
         d = MotionDesigner(method='quadratic_from_poses')
         d.show()
 
-    .. testoutput:: [motiondesigner_example1]
+    .. testoutput:: [motiondesigner_ex1]
         :hide:
 
         Closing the window... generated points for interpolation:
@@ -44,11 +57,15 @@ class MotionDesigner:
         [ 1.          , -0.207522406 , -0.0333866662, -0.0691741237, -0.0625113682, -0.141265791 , -0.4478576802, -0.2637268902]
         [ 1.          ,  0.2333739522, -0.0427838517,  0.0777914503, -0.0839342318,  0.2991396249,  0.2980046603,  0.345444421 ]
 
-    .. testcleanup:: [motiondesigner_example1]
+    .. testcleanup:: [motiondesigner_ex1]
 
         del d, MotionDesigner
 
-    .. testcode:: [motiondesigner_example2]
+    Run motion designer with initial points:
+
+    .. code-block:: python
+
+        # NOT TESTED
 
         from rational_linkages import MotionDesigner, PointHomogeneous
 
@@ -65,19 +82,6 @@ class MotionDesigner:
         d = MotionDesigner(method='quadratic_from_points', initial_points_or_poses=chosen_points)
         d.show()
 
-    .. testoutput:: [motiondesigner_example2]
-        :hide:
-
-        Closing the window... generated points for interpolation:
-        [ 1.  , -0.2 ,  0.  ,  1.76]
-        [1., 1., 1., 2.]
-        [ 1.,  3., -3.,  1.]
-        [ 1.,  2., -4.,  1.]
-        [ 1., -2., -2.,  2.]
-
-    .. testcleanup:: [motiondesigner_example2]
-
-        del d, MotionDesigner, PointHomogeneous, chosen_points
 
     """
     def __init__(self,

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
 

rational_linkages/PlotterPyqtgraph.py

@@ -1,9 +1,7 @@
 import sys
-
 import numpy as np
-import pyqtgraph.opengl as gl
-from PyQt6 import QtCore, QtGui, QtWidgets
-from PyQt6.QtWidgets import QApplication
+
+from warnings import warn
 
 from .DualQuaternion import DualQuaternion
 from .Linkage import LineSegment
@@ -17,6 +15,21 @@ from .RationalCurve import RationalCurve
 from .RationalMechanism import RationalMechanism
 from .TransfMatrix import TransfMatrix
 
+# Try importing GUI components
+try:
+    import pyqtgraph.opengl as gl
+    from PyQt6 import QtCore, QtGui, QtWidgets
+    from PyQt6.QtWidgets import QApplication
+except (ImportError, OSError):
+    warn("Failed to import OpenGL or PyQt6. If you expect interactive GUI to work, "
+         "please check the package installation.")
+
+    gl = None
+    QtCore = None
+    QtGui = None
+    QtWidgets = None
+    QApplication = None
+
 
 class PlotterPyqtgraph:
     """

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-2.2.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rational-linkages
-Version: 2.1.0
+Version: 2.2.0
 Summary: Rational Linkages
 Author-email: Daniel Huczala <daniel.huczala@uibk.ac.at>
 License-Expression: GPL-3.0-or-later
@@ -14,15 +14,18 @@ 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 == "Linux"
+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 +116,28 @@ 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 +157,21 @@ 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-2.2.0.dist-info/RECORD

@@ -0,0 +1,40 @@
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+rational_linkages/CollisionFreeOptimization.py,sha256=Il5KRl9XxyGLwRGNbLHJ7C8JvXpumDm0LXtSDNfW5W8,12628
+rational_linkages/DualQuaternion.py,sha256=LFM_g2d7hyHaxNPgAueL1dt6qlPA4tSMpWRyv5-15MI,25430
+rational_linkages/DualQuaternionAction.py,sha256=EgwULVtLSenGlUYXXXdshbt2PeoiJ32ZeTyssMBdKIs,4530
+rational_linkages/ExudynAnalysis.py,sha256=OuW-k9yzgstN6id9Fa_CW4SdAYPbDliQXHVsVni1sf8,6283
+rational_linkages/FactorizationProvider.py,sha256=Khq5pz_iXmyw6WHqapyzPEUOfLVge3uwsr4EFn6FshE,6802
+rational_linkages/Linkage.py,sha256=X56Hn46R0F8OXHIj5PpVzEtCMwZu_9OaxX_OgRvIyHA,10380
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+rational_linkages/MotionApproximation.py,sha256=YtLx9ShEedsUaBVMzNzfWj0G_Ueuamx8xX4QU2V_xWU,10237
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+rational_linkages/data/collisions_free_6r.pkl,sha256=XZFvnt8jEUfDY3JacLlS1kE-EQvtgmb7Un07DovmUmg,73101
+rational_linkages/data/plane_fold_6r.pkl,sha256=lbrnqFksdJ6QW4LJqyVv-ujjhP25kkUWdGY7bjR6Hbo,48752
+rational_linkages-2.2.0.dist-info/licenses/LICENSE,sha256=SrpxAZ1vJi81S4VF9EBjgxz9qrVj9acCyQPSAk3JgOo,35784
+rational_linkages-2.2.0.dist-info/METADATA,sha256=QrSr-JP9QWjHcRwiqENcXv1_aKxdGqel8tqhxdTaNF8,9904
+rational_linkages-2.2.0.dist-info/WHEEL,sha256=qV0EIPljj1XC_vuSatRWjn02nZIz3N1t8jsZz7HBr2U,101
+rational_linkages-2.2.0.dist-info/top_level.txt,sha256=IxRIuCa6RJFZKK15jamktxgS0abg1PV2WqXo1Z-MalI,18
+rational_linkages-2.2.0.dist-info/RECORD,,

rational_linkages-2.1.0.dist-info/RECORD

@@ -1,40 +0,0 @@
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-rational_linkages/CollisionAnalyser.py,sha256=0Y3ld_Km9WyrHy-nQDD0doXbR0aTEXbjfOUxYDhRJcY,21451
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-rational_linkages/ExudynAnalysis.py,sha256=OuW-k9yzgstN6id9Fa_CW4SdAYPbDliQXHVsVni1sf8,6283
-rational_linkages/FactorizationProvider.py,sha256=Faqxv15MAzNJh6zzGgvXULfzGRkl_6Ciy22usM2kDJs,6796
-rational_linkages/Linkage.py,sha256=X56Hn46R0F8OXHIj5PpVzEtCMwZu_9OaxX_OgRvIyHA,10380
-rational_linkages/MiniBall.py,sha256=dyjHkjsYVHBiw4uT2tpY1kV3-aC6VGQbsLHmgsTUF20,10158
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-rational_linkages/MotionDesigner.py,sha256=lWGsn4bffD4WBq9p2dshGUv9QBPULI0FEU_HgxdhHNw,29563
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