robotic 0.3.1.dev3__cp310-cp310-manylinux2014_x86_64.whl → 0.3.3__cp310-cp310-manylinux2014_x86_64.whl

robotic/_robotic.pyi

@@ -72,10 +72,18 @@ class BSpline:
         """
         non-initialized
         """
+    def append(self, points: arr, times_rel: arr, inside: bool = False) -> None:
+        """
+        appends points to the current spline; times_rel become relative to the current last knot; inside = remove the current end double knot (zero vel), smoothly blending but not transitioning anymore through the current end point
+        """
     def eval(self, sampleTimes: arr, derivative: int = 0) -> arr:
         """
         evaluate the spline (or its derivative) for given sampleTimes
         """
+    def eval3(self, time: float) -> arr:
+        """
+        evaluate the spline pos, vel, acc (3xn matrix) at a single time
+        """
     def getBmatrix(self, sampleTimes: arr, startDuplicates: bool = False, endDuplicates: bool = False) -> arr:
         """
         return the B-matrix mapping from ctrlPoints to (e.g. finer) sampleTimes (e.g. uniform linspace(0,1,T)
@@ -84,6 +92,14 @@ class BSpline:
         ...
     def getKnots(self) -> arr:
         ...
+    def overwriteSmooth(self, points: arr, times_rel: arr, time_cut: float) -> None:
+        """
+        overwrites the spline by adopting the pos+vel at time_cut of the current spline and appending given points; NOTE: times_rel are added to time_cut)
+        """
+    def set(self, degree: int, points: arr, times: arr, setStartVel: arr = ..., setEndVel: arr = ...) -> BSpline:
+        """
+        convenience: same as setKnots(degree, times) and setCtrlPoints(points, true, true, startVel, endVel)
+        """
     def setCtrlPoints(self, points: arr, addStartDuplicates: bool = True, addEndDuplicates: bool = True, setStartVel: arr = ..., setEndVel: arr = ...) -> None:
         """
         set the ctrl points, automatically duplicating them as needed at start/end, optionally setting vels at start/end

robotic/include/rai/Algo/SplineCtrlFeed.h

@@ -40,7 +40,7 @@ struct BSplineCtrlReference : ReferenceFeed {
   //info:
   double getEndTime() { return spline.get()->end(); }
   arr getEndPoint() { return spline.get()->ctrlPoints[-1].copy(); }
-  void eval(arr& x, arr& xDot, arr& xDDot, double t) { spline.get()->eval2(x, xDot, xDDot, t); }
+  void eval(arr& x, arr& xDot, arr& xDDot, double t) { spline.get()->eval3(x, xDot, xDDot, t); }
 
   void report(double ctrlTime);
 };

robotic/include/rai/Algo/spline.h

@@ -29,27 +29,23 @@ struct BSpline {
   arr getBmatrix(const arr& sampleTimes, bool startDuplicates=false, bool endDuplicates=false);
 
   //-- methods concerning ctrl points
-  void setCtrlPoints(const arr& pts, bool addStartDuplicates=true, bool addEndDuplicates=true, const arr& setStartVel=NoArr, const arr& setEndVel=NoArr);
-  void append(const arr& points, const arr& times, bool inside);
+  void setCtrlPoints(const arr& points, bool addStartDuplicates=true, bool addEndDuplicates=true, const arr& setStartVel=NoArr, const arr& setEndVel=NoArr);
 
   //-- convenience user functions
   BSpline& set(uint _degree, const arr& points, const arr& times, const arr& startVel=NoArr, const arr& endVel=NoArr);
+  void overwriteSmooth(const arr& points, const arr& times_rel, double time_cut);
+  void append(const arr& points, const arr& times_rel, bool inside);
   void clear();
   arr& getKnots(){ return knots; }
   arr& getCtrlPoints(){ return ctrlPoints; }
   arr getPoints();
 
-  //-- obsolete
-  // BSpline& set_vel(uint degree, const arr& points, const arr& velocities, const arr& _times);
-
-
   //experimental
   void doubleKnot(uint t);
   void setDoubleKnotVel(int t, const arr& vel);
 
   /// core method to evaluate spline
-  // void eval(arr& x, arr& xDot, arr& xDDot, double t) const;
-  void eval2(arr& x, arr& xDot, arr& xDDot, double t, arr& Jpoints=NoArr, arr& Jtimes=NoArr) const;
+  void eval3(arr& x, arr& xDot, arr& xDDot, double t, arr& Jpoints=NoArr, arr& Jtimes=NoArr) const;
   arr eval(double t, uint derivative=0) const;
   arr eval(const arr& sampleTimes, uint derivative=0) const;
 

robotic/include/rai/KOMO/testProblems_KOMO.h

@@ -19,13 +19,6 @@ namespace rai{
   StringA get_NLP_Problem_names();
 }
 
-struct KOMO_wrap : std::shared_ptr<NLP> {
-  std::shared_ptr<KOMO> komo;
-  KOMO_wrap(const std::shared_ptr<KOMO>& _komo) : komo(_komo){
-    std::shared_ptr<NLP>::operator=( komo->nlp() );
-  }
-};
-
 shared_ptr<KOMO> problem_IK();
 shared_ptr<KOMO> problem_IKobstacle();
 shared_ptr<KOMO> problem_IKtorus();

robotic/include/rai/Optim/NLP.h

@@ -74,6 +74,8 @@ struct NLP : rai::NonCopyable {
     return d;
   }
   arr summarizeErrors(const arr& phi);
+
+  shared_ptr<rai::NonCopyable> obj;
 };
 
 //===========================================================================

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.1.dev3'
+__version__ = '0.3.3'

{robotic-0.3.1.dev3.dist-info → robotic-0.3.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.1.dev3
+Version: 0.3.3
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.1.dev3.dist-info → robotic-0.3.3.dist-info}/RECORD

@@ -1,8 +1,8 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=r9jK_izrLOBM9mzXfjlD7KX9T3_1bZ7X9XmOc6OTF40,76013
-robotic/_robotic.so,sha256=_aa3r6moZ7JFTS8w-iGwDQYsjZUiwL7kRvUozMmVJps,1242920
-robotic/librai.so,sha256=34ir07GEF4Sm9yx8hCqWD7CGbgq_7NReaREfEldeKjQ,38758816
+robotic/_robotic.pyi,sha256=gr5_H1AoXHl6fbJqoseQRs5Iiue59qa3HBKVUSW6X08,76998
+robotic/_robotic.so,sha256=NDted3m14wLbNX3pnbpvtp1iFV2lxnoC_FtNCV_eYLg,1259304
+robotic/librai.so,sha256=P6KofckI-aJOP7A2eVFbF390PGWfOxYx69UiMYG0Jno,38754752
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
 robotic/meshTool,sha256=kYLO2HPXn8nj98Qx-MIvJYpkFzOk2zY9-d30DgFZT80,52176
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
@@ -17,10 +17,10 @@ robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,255
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.py,sha256=8hiDRB2kB37hE5cZ7h26AJDnSGYb1y8DwOrcEGD_5Hc,620
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=8A91eHxAjFgTiNMg1NxW5Q6-QleQmDkpOEKoXwnRqq0,27
+robotic/version.py,sha256=on4Bj4mGEjEjyUkQExxprhOoEopcv_sPapsEnNxyelE,22
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
-robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
+robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
 robotic/include/rai/Algo/ann.h,sha256=XCQSzJIg_cPzZBKgIJMuHvBLc3ayD1FzSFqh2s_1TnM,1294
 robotic/include/rai/Algo/dataNeighbored.h,sha256=NfwS4xJElLxX8t5cYY3xiTLXgJyMsHoaD-J0kT2GXqE,1208
 robotic/include/rai/Algo/eigenValues.h,sha256=U76I5DT_WO_o7k-W3qYt2exc0WCpw4yYjR8WCqxGBv4,942
@@ -31,7 +31,7 @@ robotic/include/rai/Algo/kalman.h,sha256=c3i6ebYHZtyT5ReTmpJVx8aJ26JWLymqK_QRDY4
 robotic/include/rai/Algo/minimalSpanningTree.h,sha256=56zTSWdMi4TMjtQDVv7tHo4ahivfidTXWN4zp9NX-Jw,512
 robotic/include/rai/Algo/priorityQueue.h,sha256=nF-5_eSbGjXMmY2K3SpD-Hxwb3bhFA1ilr6IBsFq87Q,1938
 robotic/include/rai/Algo/rungeKutta.h,sha256=Kbqeu-MauQDQnmKXSRk3VnOLUY_ngKzy-rqSskBqR9k,1761
-robotic/include/rai/Algo/spline.h,sha256=sc36vGI2Ypm1bAo1bgu1mB8D2I4pHlmvHKonmrQi4v4,4358
+robotic/include/rai/Algo/spline.h,sha256=mNi6ktREVFYkdJWPZaCrnvCW3AuZyMAsktYkRz3Ywxo,4269
 robotic/include/rai/Control/CtrlMsgs.h,sha256=61lxkvpcVB2ZAL7qmB35CJ1KkhZUB27lUJ4ZMiFH0Co,2406
 robotic/include/rai/Control/CtrlObjective.h,sha256=fC-6cS0X0RR_7ooFm1xnAXlN2mgyF26qKfTjomUK45U,2591
 robotic/include/rai/Control/CtrlSet.h,sha256=o7u8N9ZSoMbiDR3TGKDjfIarIP1JAw0SHMFL18t1fv0,1404
@@ -102,7 +102,7 @@ robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2
 robotic/include/rai/KOMO/skeletonSymbol.h,sha256=mrPqRn_1i4PuqbkQBhKEYc5WPEGqPjBN6TvwZxZ5e7A,1261
 robotic/include/rai/KOMO/splined.h,sha256=G_fu9gXCboJLkwhwu77F6F3Ei6deqzbvkgP8r9kiNL8,903
 robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVPYR1g,1850
-robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=K68JhZOpPcB9A0K2IEnfOJHG3-QweSDmHB2u_YfjeIA,3000
+robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=OH1zWcD-hIXsml2RkLIvl5eyi69WuLKqWPdqWjWWFI0,2805
 robotic/include/rai/Kin/F_LeapCost.h,sha256=wNAUNgAJjLirMurF67BlFLHtjyuXy1EPr--9XLBe6Wk,556
 robotic/include/rai/Kin/F_collisions.h,sha256=Atq9LPVOkEuMF-kSHk78cGjaJYwDIbvrTxHmLBJw3yk,2092
 robotic/include/rai/Kin/F_forces.h,sha256=tHyBQcKhi4ZdsHoBU5bu7kLWVm611SfEYG_o-vMSDN0,6694
@@ -138,7 +138,7 @@ robotic/include/rai/Logic/folWorld.h,sha256=XpqTWOIvZbKlS_vsJkXOexrhjfy3_iywebFe
 robotic/include/rai/Logic/treeSearchDomain.h,sha256=sO5Y6o9wRTQxfST9YyJw3P0KcqGX7ISqbIN-uGQ5abU,3882
 robotic/include/rai/Optim/BayesOpt.h,sha256=GqOqGk5Y0USf513duMPtt--TBYGqujdsvY2qi17jVxI,1241
 robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=WRaTFUrx0A1FO7d7shgZbJVaC5AWKZT5PTD8LnuPXiE,801
-robotic/include/rai/Optim/NLP.h,sha256=UwlTvUopRLYldVtx_WiFYDegPCssd4slWMQQD2EqI9s,8200
+robotic/include/rai/Optim/NLP.h,sha256=glYe1vIhsQHmEH6_oh1Bo-JcYXGXmm84esf2FCRLmMs,8237
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
 robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=Te5_uyLrBvHANfGv9uHdR6YPuCWCqgJqj9EL8WYfF14,1172
 robotic/include/rai/Optim/NLP_Sampler.h,sha256=JaOEc8YJwatW5toOviTFXlOoF3Dg8ZWPM9zejyW9ND8,4643
@@ -357,15 +357,15 @@ robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnE
 robotic/src/mujoco_io.py,sha256=drLNE4yo30hpOY01-AsuCWKLvNoG5w2YDSzR_rlyfz0,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
-robotic-0.3.1.dev3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.1.dev3.data/scripts/ry-h5info,sha256=eh9McT5Ury7bbTudxkSOLWo-tZ6heiSEpGStM07N-Dc,810
-robotic-0.3.1.dev3.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.1.dev3.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.1.dev3.data/scripts/ry-test,sha256=vcaPrFq9Co9N2F2Mdl2_1CTieOBssSoEhU67wXqJ2EY,981
-robotic-0.3.1.dev3.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.dev3.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dev3.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.1.dev3.dist-info/METADATA,sha256=gou7C8EenDS3YOxRuIfKpRM2eT88VJybxYMgQJlVGvo,6659
-robotic-0.3.1.dev3.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
-robotic-0.3.1.dev3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.1.dev3.dist-info/RECORD,,
+robotic-0.3.3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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+robotic-0.3.3.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.3.dist-info/METADATA,sha256=h80ROYVKP_8ScOU9PIKHLhvyPAEJPzbTBXHtdAJaAyI,6654
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+robotic-0.3.3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
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