diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 77a8d316..3b3c46be 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -14,10 +14,11 @@ jobs: strategy: matrix: python-version: - - "3.7" - "3.8" - "3.9" - - "3.10" + # TODO: remove pinned minor version when mypy >0.971 is released + # https://github.com/python/mypy/issues/13627#issuecomment-1240907370 + - "3.10.6" steps: - uses: actions/checkout@v3 - name: Set up Python ${{ matrix.python-version }} @@ -39,7 +40,6 @@ jobs: strategy: matrix: python-version: - - "3.7" - "3.8" - "3.9" - "3.10" @@ -69,7 +69,6 @@ jobs: strategy: matrix: python-version: - - "3.7" - "3.8" - "3.9" - "3.10" @@ -92,7 +91,6 @@ jobs: strategy: matrix: python-version: - - "3.7" - "3.8" - "3.9" - "3.10" diff --git a/poetry.lock b/poetry.lock index da125e9a..7dad69dd 100644 --- a/poetry.lock +++ b/poetry.lock @@ -24,7 +24,6 @@ python-versions = ">=3.6" [package.dependencies] argon2-cffi-bindings = "*" -typing-extensions = {version = "*", markers = "python_version < \"3.8\""} [package.extras] dev = ["cogapp", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "pre-commit", "pytest", "sphinx", "sphinx-notfound-page", "tomli"] @@ -47,12 +46,18 @@ dev = ["cogapp", "pre-commit", "pytest", "wheel"] tests = ["pytest"] [[package]] -name = "atomicwrites" -version = "1.4.1" -description = "Atomic file writes." +name = "asttokens" +version = "2.0.8" +description = "Annotate AST trees with source code positions" category = "dev" optional = false -python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" +python-versions = "*" + +[package.dependencies] +six = "*" + +[package.extras] +test = ["astroid (<=2.5.3)", "pytest"] [[package]] name = "attrs" @@ -104,7 +109,7 @@ lxml = ["lxml"] [[package]] name = "black" -version = "22.6.0" +version = "22.8.0" description = "The uncompromising code formatter." category = "dev" optional = false @@ -118,7 +123,6 @@ pathspec = ">=0.9.0" platformdirs = ">=2" tokenize-rt = {version = ">=3.2.0", optional = true, markers = "extra == \"jupyter\""} tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""} -typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implementation_name == \"cpython\""} typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""} [package.extras] @@ -145,7 +149,7 @@ dev = ["Sphinx (==4.3.2)", "black (==22.3.0)", "build (==0.8.0)", "flake8 (==4.0 [[package]] name = "certifi" -version = "2022.6.15" +version = "2022.9.14" description = "Python package for providing Mozilla's CA Bundle." category = "dev" optional = false @@ -183,7 +187,6 @@ python-versions = ">=3.7" [package.dependencies] colorama = {version = "*", markers = "platform_system == \"Windows\""} -importlib-metadata = {version = "*", markers = "python_version < \"3.8\""} [[package]] name = "colorama" @@ -193,6 +196,24 @@ category = "dev" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*" +[[package]] +name = "contourpy" +version = "1.0.5" +description = "Python library for calculating contours of 2D quadrilateral grids" +category = "dev" +optional = false +python-versions = ">=3.7" + +[package.dependencies] +numpy = ">=1.16" + +[package.extras] +bokeh = ["bokeh", "selenium"] +docs = ["docutils (<0.18)", "sphinx", "sphinx-rtd-theme"] +test = ["Pillow", "flake8", "isort", "matplotlib", "pytest"] +test-minimal = ["pytest"] +test-no-codebase = ["Pillow", "matplotlib", "pytest"] + [[package]] name = "coverage" version = "6.4.4" @@ -266,9 +287,17 @@ python-versions = ">=3.7" [package.extras] test = ["pytest (>=6)"] +[[package]] +name = "executing" +version = "1.0.0" +description = "Get the currently executing AST node of a frame, and other information" +category = "dev" +optional = false +python-versions = "*" + [[package]] name = "fastjsonschema" -version = "2.16.1" +version = "2.16.2" description = "Fastest Python implementation of JSON schema" category = "dev" optional = false @@ -286,14 +315,13 @@ optional = false python-versions = ">=3.6.1" [package.dependencies] -importlib-metadata = {version = ">=1.1.0,<4.3", markers = "python_version < \"3.8\""} mccabe = ">=0.7.0,<0.8.0" pycodestyle = ">=2.9.0,<2.10.0" pyflakes = ">=2.5.0,<2.6.0" [[package]] name = "flake8-bugbear" -version = "22.8.23" +version = "22.9.11" description = "A plugin for flake8 finding likely bugs and design problems in your program. Contains warnings that don't belong in pyflakes and pycodestyle." category = "dev" optional = false @@ -308,7 +336,7 @@ dev = ["coverage", "hypothesis", "hypothesmith (>=0.2)", "pre-commit"] [[package]] name = "fonttools" -version = "4.37.1" +version = "4.37.3" description = "Tools to manipulate font files" category = "dev" optional = false @@ -330,7 +358,7 @@ woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"] [[package]] name = "hypothesis" -version = "6.54.4" +version = "6.54.6" description = "A library for property-based testing" category = "dev" optional = false @@ -342,7 +370,7 @@ exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""} sortedcontainers = ">=2.1.0,<3.0.0" [package.extras] -all = ["backports.zoneinfo (>=0.2.1)", "black (>=19.10b0)", "click (>=7.0)", "django (>=3.2)", "dpcontracts (>=0.4)", "importlib-metadata (>=3.6)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=1.0)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "tzdata (>=2022.1)"] +all = ["backports.zoneinfo (>=0.2.1)", "black (>=19.10b0)", "click (>=7.0)", "django (>=3.2)", "dpcontracts (>=0.4)", "importlib-metadata (>=3.6)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=1.0)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "tzdata (>=2022.2)"] cli = ["black (>=19.10b0)", "click (>=7.0)", "rich (>=9.0.0)"] codemods = ["libcst (>=0.3.16)"] dateutil = ["python-dateutil (>=1.4)"] @@ -355,11 +383,11 @@ pandas = ["pandas (>=1.0)"] pytest = ["pytest (>=4.6)"] pytz = ["pytz (>=2014.1)"] redis = ["redis (>=3.0.0)"] -zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"] +zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.2)"] [[package]] name = "idna" -version = "3.3" +version = "3.4" description = "Internationalized Domain Names in Applications (IDNA)" category = "dev" optional = false @@ -375,19 +403,19 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" [[package]] name = "importlib-metadata" -version = "4.2.0" +version = "4.12.0" description = "Read metadata from Python packages" category = "dev" optional = false -python-versions = ">=3.6" +python-versions = ">=3.7" [package.dependencies] -typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""} zipp = ">=0.5" [package.extras] -docs = ["jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "sphinx"] -testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pep517", "pyfakefs", "pytest (>=4.6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.0.1)", "pytest-flake8", "pytest-mypy"] +docs = ["jaraco.packaging (>=9)", "rst.linker (>=1.9)", "sphinx"] +perf = ["ipython"] +testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"] [[package]] name = "importlib-resources" @@ -414,7 +442,7 @@ python-versions = "*" [[package]] name = "ipykernel" -version = "6.15.2" +version = "6.15.3" description = "IPython Kernel for Jupyter" category = "dev" optional = false @@ -438,11 +466,11 @@ test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=6.0)", "pytest-cov", "p [[package]] name = "ipython" -version = "7.34.0" +version = "8.5.0" description = "IPython: Productive Interactive Computing" category = "dev" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" [package.dependencies] appnope = {version = "*", markers = "sys_platform == \"darwin\""} @@ -453,13 +481,14 @@ jedi = ">=0.16" matplotlib-inline = "*" pexpect = {version = ">4.3", markers = "sys_platform != \"win32\""} pickleshare = "*" -prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0" -pygments = "*" -setuptools = ">=18.5" -traitlets = ">=4.2" +prompt-toolkit = ">3.0.1,<3.1.0" +pygments = ">=2.4.0" +stack-data = "*" +traitlets = ">=5" [package.extras] -all = ["Sphinx (>=1.3)", "ipykernel", "ipyparallel", "ipywidgets", "nbconvert", "nbformat", "nose (>=0.10.1)", "notebook", "numpy (>=1.17)", "pygments", "qtconsole", "requests", "testpath"] +all = ["Sphinx (>=1.3)", "black", "curio", "ipykernel", "ipyparallel", "ipywidgets", "matplotlib (!=3.2.0)", "nbconvert", "nbformat", "notebook", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "qtconsole", "testpath", "trio"] +black = ["black"] doc = ["Sphinx (>=1.3)"] kernel = ["ipykernel"] nbconvert = ["nbconvert"] @@ -467,7 +496,8 @@ nbformat = ["nbformat"] notebook = ["ipywidgets", "notebook"] parallel = ["ipyparallel"] qtconsole = ["qtconsole"] -test = ["ipykernel", "nbformat", "nose (>=0.10.1)", "numpy (>=1.17)", "pygments", "requests", "testpath"] +test = ["pytest (<7.1)", "pytest-asyncio", "testpath"] +test_extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] [[package]] name = "ipython_genutils" @@ -522,15 +552,15 @@ i18n = ["Babel (>=2.7)"] [[package]] name = "joblib" -version = "1.1.0" +version = "1.2.0" description = "Lightweight pipelining with Python functions" category = "dev" optional = false -python-versions = ">=3.6" +python-versions = ">=3.7" [[package]] name = "jsonschema" -version = "4.14.0" +version = "4.16.0" description = "An implementation of JSON Schema validation for Python" category = "dev" optional = false @@ -538,11 +568,9 @@ python-versions = ">=3.7" [package.dependencies] attrs = ">=17.4.0" -importlib-metadata = {version = "*", markers = "python_version < \"3.8\""} importlib-resources = {version = ">=1.4.0", markers = "python_version < \"3.9\""} pkgutil-resolve-name = {version = ">=1.3.10", markers = "python_version < \"3.9\""} pyrsistent = ">=0.14.0,<0.17.0 || >0.17.0,<0.17.1 || >0.17.1,<0.17.2 || >0.17.2" -typing-extensions = {version = "*", markers = "python_version < \"3.8\""} [package.extras] format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"] @@ -600,9 +628,6 @@ category = "dev" optional = false python-versions = ">=3.7" -[package.dependencies] -typing-extensions = {version = "*", markers = "python_version < \"3.8\""} - [[package]] name = "livereload" version = "2.6.3" @@ -639,22 +664,23 @@ python-versions = ">=3.7" [[package]] name = "matplotlib" -version = "3.5.3" +version = "3.6.0" description = "Python plotting package" category = "dev" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" [package.dependencies] +contourpy = ">=1.0.1" cycler = ">=0.10" fonttools = ">=4.22.0" kiwisolver = ">=1.0.1" -numpy = ">=1.17" +numpy = ">=1.19" packaging = ">=20.0" pillow = ">=6.2.0" pyparsing = ">=2.2.1" python-dateutil = ">=2.7" -setuptools_scm = ">=4,<7" +setuptools_scm = ">=7" [[package]] name = "matplotlib-inline" @@ -694,7 +720,6 @@ python-versions = ">=3.6" [package.dependencies] mypy-extensions = ">=0.4.3" tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""} -typed-ast = {version = ">=1.4.0,<2", markers = "python_version < \"3.8\""} typing-extensions = ">=3.10" [package.extras] @@ -712,7 +737,7 @@ python-versions = "*" [[package]] name = "nbclient" -version = "0.6.7" +version = "0.6.8" description = "A client library for executing notebooks. Formerly nbconvert's ExecutePreprocessor." category = "dev" optional = false @@ -766,7 +791,7 @@ webpdf = ["pyppeteer (>=1,<1.1)"] [[package]] name = "nbformat" -version = "5.4.0" +version = "5.6.0" description = "The Jupyter Notebook format" category = "dev" optional = false @@ -779,7 +804,7 @@ jupyter-core = "*" traitlets = ">=5.1" [package.extras] -test = ["check-manifest", "pre-commit", "pytest", "testpath"] +test = ["check-manifest", "pep440", "pre-commit", "pytest", "testpath"] [[package]] name = "nest-asyncio" @@ -821,11 +846,11 @@ test = ["coverage", "nbval", "pytest", "pytest-cov", "requests", "requests-unixs [[package]] name = "numpy" -version = "1.21.6" +version = "1.23.3" description = "NumPy is the fundamental package for array computing with Python." category = "main" optional = false -python-versions = ">=3.7,<3.11" +python-versions = ">=3.8" [[package]] name = "packaging" @@ -840,24 +865,22 @@ pyparsing = ">=2.0.2,<3.0.5 || >3.0.5" [[package]] name = "pandas" -version = "1.3.5" +version = "1.5.0" description = "Powerful data structures for data analysis, time series, and statistics" category = "dev" optional = false -python-versions = ">=3.7.1" +python-versions = ">=3.8" [package.dependencies] numpy = [ - {version = ">=1.17.3", markers = "platform_machine != \"aarch64\" and platform_machine != \"arm64\" and python_version < \"3.10\""}, - {version = ">=1.19.2", markers = "platform_machine == \"aarch64\" and python_version < \"3.10\""}, - {version = ">=1.20.0", markers = "platform_machine == \"arm64\" and python_version < \"3.10\""}, {version = ">=1.21.0", markers = "python_version >= \"3.10\""}, + {version = ">=1.20.3", markers = "python_version < \"3.10\""}, ] -python-dateutil = ">=2.7.3" -pytz = ">=2017.3" +python-dateutil = ">=2.8.1" +pytz = ">=2020.1" [package.extras] -test = ["hypothesis (>=3.58)", "pytest (>=6.0)", "pytest-xdist"] +test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"] [[package]] name = "pandocfilters" @@ -881,11 +904,11 @@ testing = ["docopt", "pytest (<6.0.0)"] [[package]] name = "pathspec" -version = "0.9.0" +version = "0.10.1" description = "Utility library for gitignore style pattern matching of file paths." category = "dev" optional = false -python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7" +python-versions = ">=3.7" [[package]] name = "pbr" @@ -965,9 +988,6 @@ category = "dev" optional = false python-versions = ">=3.6" -[package.dependencies] -importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""} - [package.extras] dev = ["pre-commit", "tox"] testing = ["pytest", "pytest-benchmark"] @@ -985,7 +1005,7 @@ twisted = ["twisted"] [[package]] name = "prompt-toolkit" -version = "3.0.30" +version = "3.0.31" description = "Library for building powerful interactive command lines in Python" category = "dev" optional = false @@ -996,7 +1016,7 @@ wcwidth = "*" [[package]] name = "psutil" -version = "5.9.1" +version = "5.9.2" description = "Cross-platform lib for process and system monitoring in Python." category = "dev" optional = false @@ -1013,6 +1033,17 @@ category = "dev" optional = false python-versions = "*" +[[package]] +name = "pure-eval" +version = "0.2.2" +description = "Safely evaluate AST nodes without side effects" +category = "dev" +optional = false +python-versions = "*" + +[package.extras] +tests = ["pytest"] + [[package]] name = "py" version = "1.11.0" @@ -1091,17 +1122,15 @@ python-versions = ">=3.7" [[package]] name = "pytest" -version = "7.1.2" +version = "7.1.3" description = "pytest: simple powerful testing with Python" category = "dev" optional = false python-versions = ">=3.7" [package.dependencies] -atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""} attrs = ">=19.2.0" colorama = {version = "*", markers = "sys_platform == \"win32\""} -importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""} iniconfig = "*" packaging = "*" pluggy = ">=0.12,<2.0" @@ -1172,7 +1201,6 @@ python-versions = ">=3.7" [package.dependencies] packaging = ">=21.3" tomli = {version = ">=2.0", markers = "python_version < \"3.11\""} -typing-extensions = {version = "*", markers = "python_version < \"3.8\""} [package.extras] doc = ["sphinx (>=4.5.0)", "tabulate (>=0.8.9)"] @@ -1198,7 +1226,7 @@ python-versions = "*" [[package]] name = "pywinpty" -version = "2.0.7" +version = "2.0.8" description = "Pseudo terminal support for Windows from Python." category = "dev" optional = false @@ -1206,7 +1234,7 @@ python-versions = ">=3.7" [[package]] name = "pyzmq" -version = "23.2.1" +version = "24.0.1" description = "Python bindings for 0MQ" category = "dev" optional = false @@ -1251,34 +1279,34 @@ doc = ["pytoolconfig[doc]", "sphinx (>=4.5.0)", "sphinx-autodoc-typehints (>=1.1 [[package]] name = "scikit-learn" -version = "1.0.2" +version = "1.1.2" description = "A set of python modules for machine learning and data mining" category = "dev" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" [package.dependencies] -joblib = ">=0.11" -numpy = ">=1.14.6" -scipy = ">=1.1.0" +joblib = ">=1.0.0" +numpy = ">=1.17.3" +scipy = ">=1.3.2" threadpoolctl = ">=2.0.0" [package.extras] -benchmark = ["matplotlib (>=2.2.3)", "memory-profiler (>=0.57.0)", "pandas (>=0.25.0)"] -docs = ["Pillow (>=7.1.2)", "matplotlib (>=2.2.3)", "memory-profiler (>=0.57.0)", "numpydoc (>=1.0.0)", "pandas (>=0.25.0)", "scikit-image (>=0.14.5)", "seaborn (>=0.9.0)", "sphinx (>=4.0.1)", "sphinx-gallery (>=0.7.0)", "sphinx-prompt (>=1.3.0)", "sphinxext-opengraph (>=0.4.2)"] -examples = ["matplotlib (>=2.2.3)", "pandas (>=0.25.0)", "scikit-image (>=0.14.5)", "seaborn (>=0.9.0)"] -tests = ["black (>=21.6b0)", "flake8 (>=3.8.2)", "matplotlib (>=2.2.3)", "mypy (>=0.770)", "pandas (>=0.25.0)", "pyamg (>=4.0.0)", "pytest (>=5.0.1)", "pytest-cov (>=2.9.0)", "scikit-image (>=0.14.5)"] +benchmark = ["matplotlib (>=3.1.2)", "memory-profiler (>=0.57.0)", "pandas (>=1.0.5)"] +docs = ["Pillow (>=7.1.2)", "matplotlib (>=3.1.2)", "memory-profiler (>=0.57.0)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)", "sphinx (>=4.0.1)", "sphinx-gallery (>=0.7.0)", "sphinx-prompt (>=1.3.0)", "sphinxext-opengraph (>=0.4.2)"] +examples = ["matplotlib (>=3.1.2)", "pandas (>=1.0.5)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)"] +tests = ["black (>=22.3.0)", "flake8 (>=3.8.2)", "matplotlib (>=3.1.2)", "mypy (>=0.961)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "pyamg (>=4.0.0)", "pytest (>=5.0.1)", "pytest-cov (>=2.9.0)", "scikit-image (>=0.16.2)"] [[package]] name = "scipy" -version = "1.7.3" +version = "1.9.1" description = "SciPy: Scientific Library for Python" category = "main" optional = false -python-versions = ">=3.7,<3.11" +python-versions = ">=3.8,<3.12" [package.dependencies] -numpy = ">=1.16.5,<1.23.0" +numpy = ">=1.18.5,<1.25.0" [[package]] name = "Send2Trash" @@ -1308,16 +1336,17 @@ testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs ( [[package]] name = "setuptools-scm" -version = "6.4.2" +version = "7.0.5" description = "the blessed package to manage your versions by scm tags" category = "dev" optional = false -python-versions = ">=3.6" +python-versions = ">=3.7" [package.dependencies] packaging = ">=20.0" setuptools = "*" tomli = ">=1.0.0" +typing-extensions = "*" [package.extras] test = ["pytest (>=6.2)", "virtualenv (>20)"] @@ -1357,7 +1386,7 @@ python-versions = ">=3.6" [[package]] name = "Sphinx" -version = "4.3.2" +version = "5.1.1" description = "Python documentation generator" category = "dev" optional = false @@ -1367,13 +1396,13 @@ python-versions = ">=3.6" alabaster = ">=0.7,<0.8" babel = ">=1.3" colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""} -docutils = ">=0.14,<0.18" +docutils = ">=0.14,<0.20" imagesize = "*" +importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""} Jinja2 = ">=2.3" packaging = 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2b833273..d1feb4e3 100644 --- a/pybotics/geometry.py +++ b/pybotics/geometry.py @@ -66,7 +66,7 @@ def vector_2_matrix( transform_matrix = np.eye(4) for axis, value in zip(convention, rotation_component): current_rotation = globals()[f"rotation_matrix_{axis}"](value) - transform_matrix = np.dot(transform_matrix, current_rotation) # type: ignore + transform_matrix = np.dot(transform_matrix, current_rotation) # add translation component transform_matrix[:-1, -1] = translation_component diff --git a/pybotics/optimization.py b/pybotics/optimization.py index 840c0737..efa25992 100644 --- a/pybotics/optimization.py +++ b/pybotics/optimization.py @@ -1,7 +1,7 @@ """Optimization module.""" from copy import deepcopy from itertools import repeat -from typing import MutableSequence, Sequence +from typing import MutableSequence import attr import numpy as np @@ -56,7 +56,7 @@ def apply_optimization_vector(self, vector: npt.NDArray[np.float64]) -> None: num_tool_parameters = np.sum(self.tool_mask) # extract vector segments - segments = np.split( # type: ignore + segments = np.split( vector, [num_kc_parameters, num_kc_parameters + num_tool_parameters] ) kc_segment = segments[0] @@ -91,8 +91,8 @@ def generate_optimization_vector(self) -> npt.NDArray[np.float64]: def optimize_accuracy( optimization_vector: npt.NDArray[np.float64], handler: OptimizationHandler, - qs: Sequence[npt.NDArray[np.float64]], - positions: Sequence[npt.NDArray[np.float64]], + qs: npt.NDArray[np.float64], + positions: npt.NDArray[np.float64], ) -> npt.NDArray[np.float64]: """Fitness function for accuracy optimization.""" handler.apply_optimization_vector(optimization_vector) @@ -107,13 +107,13 @@ def compute_absolute_error( pose = robot.fk(q) actual_position = position_from_matrix(pose) error = position - actual_position # type: npt.NDArray[np.float64] - result = float(np.linalg.norm(error)) # type: ignore + result = float(np.linalg.norm(error)) return result def compute_absolute_errors( - qs: Sequence[npt.NDArray[np.float64]], - positions: Sequence[npt.NDArray[np.float64]], + qs: npt.NDArray[np.float64], + positions: npt.NDArray[np.float64], robot: Robot, ) -> npt.NDArray[np.float64]: """ @@ -123,7 +123,7 @@ def compute_absolute_errors( :param positions: Array of Cartesian positions, shape=(n-poses, 3) :param robot: Robot model """ - return np.fromiter( # type: ignore + return np.fromiter( map(compute_absolute_error, qs, positions, repeat(robot)), dtype=np.float64 ) @@ -141,10 +141,10 @@ def compute_relative_error( actual_position_a = position_from_matrix(pose_a) actual_position_b = position_from_matrix(pose_b) - actual_distance = actual_position_a - actual_position_b # type: float - actual_distance = np.linalg.norm(actual_distance) # type: ignore + actual_distance = actual_position_a - actual_position_b + scalar_distance = np.linalg.norm(actual_distance) - error = float(np.linalg.norm(distance - actual_distance)) # type: ignore + error = float(np.linalg.norm(distance - scalar_distance)) return error @@ -156,7 +156,7 @@ def compute_relative_errors( robot: Robot, ) -> npt.NDArray[np.float64]: """Compute the relative errors of a given set of position combinations.""" - return np.fromiter( # type: ignore + return np.fromiter( map(compute_relative_error, qs_a, qs_b, distances, repeat(robot)), dtype=np.float64, ) diff --git a/pybotics/robot.py b/pybotics/robot.py index e9e2ea6b..44f20fcc 100644 --- a/pybotics/robot.py +++ b/pybotics/robot.py @@ -83,7 +83,7 @@ def fk( # matrix multiply through transforms pose = np.eye(4, dtype=float) for t in transforms: - pose = np.dot(pose, t) # type: ignore + pose = np.dot(pose, t) return pose @@ -160,7 +160,7 @@ def jacobian_world( j_tr = np.zeros((6, 6), dtype=float) j_tr[:3, :3] = rotation j_tr[3:, 3:] = rotation - j_w = np.dot(j_tr, j_fl) # type: ignore + j_w = np.dot(j_tr, j_fl) return typing.cast(npt.NDArray[np.float64], j_w) @@ -192,9 +192,7 @@ def jacobian_flange( current_link = self.kinematic_chain.links[i] p = q[i] current_link_transform = current_link.transform(p) - current_transform = np.dot( # type: ignore - current_link_transform, current_transform - ) + current_transform = np.dot(current_link_transform, current_transform) return jacobian_flange @@ -235,11 +233,11 @@ def compute_joint_torques( # calculate force applied to current link rotation = transform[:3, :3] - force = np.dot(rotation, force) # type: ignore + force = np.dot(rotation, force) # calculate moment applied to current link q = transform[:3, -1] - moment = np.dot(rotation, moment) + np.cross(q, force) # type: ignore + moment = np.dot(rotation, moment) + np.cross(q, force) # append z-component as joint torque joint_torques.append(moment[-1]) diff --git a/pyproject.toml b/pyproject.toml index 9f44df41..8ce040fb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,7 +29,6 @@ classifiers = [ "Operating System :: POSIX", "Programming Language :: Python :: 3 :: Only", "Programming Language :: Python :: 3.10", - "Programming Language :: Python :: 3.7", "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3", @@ -52,11 +51,10 @@ classifiers = [ ] [tool.poetry.dependencies] -python = "^3.7.1,<3.11" +python = "^3.8,<3.11" attrs = ">=19.0" -numpy = "^1.21" +numpy = "^1.22" scipy = "^1.6" -typing-extensions = { version = "^4", python = "~3.7" } [tool.poetry.dev-dependencies] black = { extras = ["jupyter"], version = "^22.6.0" } diff --git a/tests/test_geometry.py b/tests/test_geometry.py index d1f021dd..72ed14d7 100644 --- a/tests/test_geometry.py +++ b/tests/test_geometry.py @@ -28,7 +28,7 @@ def vector_transforms() -> List[Dict[str, Union[npt.NDArray[np.float64], str]]]: data_path = ( Path(__file__).parent / "resources" ).resolve() / "vector-transforms.csv" - data = np.genfromtxt(fname=data_path, delimiter=",", dtype=str) # type: ignore + data = np.genfromtxt(fname=data_path, delimiter=",", dtype=str) result = [ { @@ -62,12 +62,12 @@ def test_wrap_2_pi(angle: float) -> None: actual_angles = np.array(list(map(pybotics.geometry.wrap_2_pi, test_angles))) assert len(test_angles) == len(expected_angles) assert len(actual_angles) == len(expected_angles) - np.testing.assert_allclose(actual_angles, expected_angles) # type: ignore + np.testing.assert_allclose(actual_angles, expected_angles) # test single elements for i, _ in enumerate(expected_angles): actual_angle = pybotics.geometry.wrap_2_pi(test_angles[i]) - np.testing.assert_allclose([actual_angle], expected_angles[i]) # type: ignore + np.testing.assert_allclose([actual_angle], expected_angles[i]) @given( @@ -86,24 +86,24 @@ def test_rotation_matrix_x(angle: float) -> None: # check orthogonality for row in actual_matrix: - np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(row), 1) for column in actual_matrix.T: - np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(column), 1) # check no translation - np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # check homogeneous matrix - np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # check unit vector location - np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore + np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # check 3x3 rotation component actual_rotation = actual_matrix[:3, :3] expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix() - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08 ) @@ -124,24 +124,24 @@ def test_rotation_matrix_y(angle: float) -> None: # check orthogonality for row in actual_matrix: - np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(row), 1) for column in actual_matrix.T: - np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(column), 1) # check no translation - np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # check homogeneous matrix - np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # check unit vector location - np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore + np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # check 3x3 rotation component actual_rotation = actual_matrix[:3, :3] expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix() - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08 ) @@ -162,24 +162,24 @@ def test_rotation_matrix_z(angle: float) -> None: # check orthogonality for row in actual_matrix: - np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(row), 1) for column in actual_matrix.T: - np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(column), 1) # check no translation - np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # check homogeneous matrix - np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore + np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # check unit vector location - np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore + np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # check 3x3 rotation component actual_rotation = actual_matrix[:3, :3] expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix() - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08 ) @@ -198,19 +198,19 @@ def test_translation_matrix(xyz: npt.NDArray[np.float64]) -> None: # check orthogonality for row in matrix[:-1, :-1]: # noinspection PyTypeChecker - np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(row), 1) for column in matrix[:, :-1].T: # noinspection PyTypeChecker - np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore + np.testing.assert_allclose(np.linalg.norm(column), 1) # check translation # noinspection PyTypeChecker - np.testing.assert_allclose(matrix[:-1, -1], xyz) # type: ignore + np.testing.assert_allclose(matrix[:-1, -1], xyz) # check homogeneous matrix # noinspection PyTypeChecker - np.testing.assert_allclose(matrix[-1, :-1], 0) # type: ignore + np.testing.assert_allclose(matrix[-1, :-1], 0) # test exception with raises(PyboticsError): @@ -222,18 +222,25 @@ def test_vector_2_matrix( ) -> None: """Test.""" # test regular usage - for d in vector_transforms: - for c in [d["order"], OrientationConvention(d["order"])]: + for transform_data in vector_transforms: + for convention in [ + transform_data["order"], + OrientationConvention(transform_data["order"]), + ]: actual = pybotics.geometry.vector_2_matrix( - d["vector"], convention=c # type: ignore + transform_data["vector"], convention=convention # type: ignore ) - np.testing.assert_allclose( # type: ignore - actual=actual, desired=d["transform"].reshape((4, 4)), atol=1e-6 + np.testing.assert_allclose( + actual=actual, + desired=transform_data["transform"].reshape((4, 4)), + atol=1e-6, ) # test exception with raises(PyboticsError): - pybotics.geometry.vector_2_matrix(d["vector"], convention="foobar") + pybotics.geometry.vector_2_matrix( + transform_data["vector"], convention="foobar" + ) def test_matrix_2_vector( @@ -252,7 +259,7 @@ def test_matrix_2_vector( # TODO: implement other conversions # don't fail for NotImplementedError continue - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=actual_vector, desired=d["vector"], atol=1e-6 ) diff --git a/tests/test_kinematic_chain.py b/tests/test_kinematic_chain.py index beaaaa68..f8a7ac73 100644 --- a/tests/test_kinematic_chain.py +++ b/tests/test_kinematic_chain.py @@ -28,7 +28,7 @@ def test_vector() -> None: """Test.""" link = RevoluteMDHLink() kc = MDHKinematicChain([link]) - np.testing.assert_allclose(kc.vector, link.vector) # type: ignore + np.testing.assert_allclose(kc.vector, link.vector) def test_repr() -> None: diff --git a/tests/test_link.py b/tests/test_link.py index 5cf11976..25fcd4ee 100644 --- a/tests/test_link.py +++ b/tests/test_link.py @@ -12,7 +12,7 @@ def test_len() -> None: def test_displace() -> None: """Test.""" link = PrismaticMDHLink() - np.testing.assert_allclose(link.displace(), link.vector) # type: ignore + np.testing.assert_allclose(link.displace(), link.vector) def test_repr() -> None: diff --git a/tests/test_optimization.py b/tests/test_optimization.py index 1550b9a6..bc991823 100644 --- a/tests/test_optimization.py +++ b/tests/test_optimization.py @@ -9,7 +9,6 @@ from hypothesis import given from hypothesis.extra.numpy import arrays from pytest import raises - from pybotics.errors import PyboticsError from pybotics.optimization import ( OptimizationHandler, @@ -30,24 +29,34 @@ elements=st.floats(allow_nan=False, allow_infinity=False), ) ) -def test_compute_absolute_errors(q: npt.NDArray[np.float64]) -> None: +def test_compute_absolute_errors_1d(q: npt.NDArray[np.float64]) -> None: """Test.""" robot = Robot.from_parameters(ur10()) pose = robot.fk(q) position_vector = pose[:-1, -1] - - # test 1D input; i.e., only one pose actual_error = compute_absolute_error(q=q, position=position_vector, robot=robot) - np.testing.assert_allclose(actual_error, 0) # type: ignore + np.testing.assert_allclose(actual_error, 0) + - # test 2D input; i.e., many poses +@given( + q=arrays( + shape=(len(ur10()),), + dtype=float, + elements=st.floats(allow_nan=False, allow_infinity=False), + ) +) +def test_compute_absolute_errors_2d(q: npt.NDArray[np.float64]) -> None: + """Test.""" + robot = Robot.from_parameters(ur10()) + pose = robot.fk(q) + position_vector = pose[:-1, -1] num_repeats = 10 - actual_error = compute_absolute_errors( # type: ignore - qs=np.tile(q, (num_repeats, 1)), # type: ignore - positions=np.tile(position_vector, (num_repeats, 1)), # type: ignore + actual_error = compute_absolute_errors( + qs=np.tile(q, (num_repeats, 1)), + positions=np.tile(position_vector, (num_repeats, 1)), robot=robot, ) - np.testing.assert_allclose(actual_error, 0) # type: ignore + np.testing.assert_allclose(actual_error, 0) @given( @@ -62,31 +71,48 @@ def test_compute_absolute_errors(q: npt.NDArray[np.float64]) -> None: elements=st.floats(allow_nan=False, allow_infinity=False), ), ) -def test_compute_relative_errors( +def test_compute_relative_errors_1d( q_a: npt.NDArray[np.float64], q_b: npt.NDArray[np.float64] ) -> None: """Test.""" robot = Robot.from_parameters(ur10()) - p_a = robot.fk(q_a)[:-1, -1] p_b = robot.fk(q_b)[:-1, -1] - distance = np.linalg.norm(p_a - p_b) # type: ignore - - # test 1D input; i.e., only one pose + distance = float(np.linalg.norm(p_a - p_b)) actual_error = compute_relative_error( q_a=q_a, q_b=q_b, distance=distance, robot=robot ) - np.testing.assert_allclose(actual_error, 0) # type: ignore + np.testing.assert_allclose(actual_error, 0) - # test 2D input; i.e., many poses + +@given( + q_a=arrays( + shape=(len(ur10()),), + dtype=float, + elements=st.floats(allow_nan=False, allow_infinity=False), + ), + q_b=arrays( + shape=(len(ur10()),), + dtype=float, + elements=st.floats(allow_nan=False, allow_infinity=False), + ), +) +def test_compute_relative_errors_2d( + q_a: npt.NDArray[np.float64], q_b: npt.NDArray[np.float64] +) -> None: + """Test.""" + robot = Robot.from_parameters(ur10()) + p_a = robot.fk(q_a)[:-1, -1] + p_b = robot.fk(q_b)[:-1, -1] + distance = np.linalg.norm(p_a - p_b) num_repeats = 10 - actual_error = compute_relative_errors( # type: ignore - qs_a=np.tile(q_a, (num_repeats, 1)), # type: ignore - qs_b=np.tile(q_b, (num_repeats, 1)), # type: ignore - distances=np.tile(distance, (num_repeats, 1)), # type: ignore + actual_error = compute_relative_errors( + qs_a=np.tile(q_a, (num_repeats, 1)), + qs_b=np.tile(q_b, (num_repeats, 1)), + distances=np.tile(distance, (num_repeats, 1)), robot=robot, ) - np.testing.assert_allclose(actual_error, 0) # type: ignore + np.testing.assert_allclose(actual_error, 0) def test_optimization() -> None: @@ -94,12 +120,10 @@ def test_optimization() -> None: # init robot model and error wrt nominal actual_robot = Robot.from_parameters(ur10()) actual_robot.tool.position = np.array([0.1, 0, 0]) - # FIXME: "Link" has no attribute "a" - # TODO: review abstract inheritance actual_robot.kinematic_chain.links[0].a += 0.1 # type: ignore # calculate fk - qs = np.tile( # type: ignore + qs = np.tile( np.linspace(start=-np.pi, stop=np.pi, num=100), (len(ur10()), 1) ).transpose() @@ -121,18 +145,18 @@ def test_optimization() -> None: # validate atol = 1e-2 - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=result.x, desired=handler.generate_optimization_vector(), atol=atol ) - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=handler.robot.kinematic_chain.vector, desired=actual_robot.kinematic_chain.vector, atol=atol, ) - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=handler.robot.tool.vector, desired=actual_robot.tool.vector, atol=atol ) - np.testing.assert_allclose( # type: ignore + np.testing.assert_allclose( actual=handler.robot.world_frame, desired=actual_robot.world_frame, atol=atol ) diff --git a/tests/test_robot.py b/tests/test_robot.py index 1d693871..f15be8be 100644 --- a/tests/test_robot.py +++ b/tests/test_robot.py @@ -36,7 +36,7 @@ def test_fk() -> None: data_path = ( Path(__file__).parent / "resources" ).resolve() / "ur10-joints-poses.csv" - data = np.loadtxt(str(data_path), delimiter=",") # type: ignore + data = np.loadtxt(str(data_path), delimiter=",") # load robot robot = Robot.from_parameters(ur10()) @@ -51,12 +51,12 @@ def test_fk() -> None: # test with position argument actual_pose = robot.fk(q=joints) - np.testing.assert_allclose(actual_pose, desired_pose, atol=atol) # type: ignore + np.testing.assert_allclose(actual_pose, desired_pose, atol=atol) # test with internal position attribute robot.joints = joints actual_pose = robot.fk() - np.testing.assert_allclose(actual_pose, desired_pose, atol=atol) # type: ignore + np.testing.assert_allclose(actual_pose, desired_pose, atol=atol) def test_home_position() -> None: @@ -64,7 +64,7 @@ def test_home_position() -> None: robot = Robot.from_parameters(ur10()) x = np.ones(len(robot)) robot.home_position = x - np.testing.assert_allclose(robot.home_position, x) # type: ignore + np.testing.assert_allclose(robot.home_position, x) def test_joint_limits() -> None: @@ -115,11 +115,11 @@ def test_compute_joint_torques(planar_robot: Robot) -> None: # test actual_torques = planar_robot.compute_joint_torques(q=joint_angles, wrench=wrench) - np.testing.assert_allclose(actual_torques, expected_torques) # type: ignore + np.testing.assert_allclose(actual_torques, expected_torques) planar_robot.joints = joint_angles actual_torques = planar_robot.compute_joint_torques(wrench=wrench) - np.testing.assert_allclose(actual_torques, expected_torques) # type: ignore + np.testing.assert_allclose(actual_torques, expected_torques) @given( @@ -158,7 +158,7 @@ def test_jacobian_world(q: npt.NDArray[np.float64], planar_robot: Robot) -> None expected[-1, :] = 1 actual = planar_robot.jacobian_world(q) - np.testing.assert_allclose(actual, expected, atol=1e-3) # type: ignore + np.testing.assert_allclose(actual, expected, atol=1e-3) @given( @@ -189,7 +189,7 @@ def test_jacobian_flange(q: npt.NDArray[np.float64], planar_robot: Robot) -> Non expected[-1, :] = 1 actual = planar_robot.jacobian_flange(q) - np.testing.assert_allclose(actual, expected, atol=1e-6) # type: ignore + np.testing.assert_allclose(actual, expected, atol=1e-6) @given( @@ -229,14 +229,12 @@ def test_ik(q: npt.NDArray[np.float64], q_offset: npt.NDArray[np.float64]) -> No # test the matrix with lower accuracy # rotation components are hard to achieve when x0 isn't good - np.testing.assert_allclose(actual_pose, pose, atol=1) # type: ignore + np.testing.assert_allclose(actual_pose, pose, atol=1) # test the position with higher accuracy desired_position = pose[:-1, -1] actual_position = actual_pose[:-1, -1] - np.testing.assert_allclose( # type: ignore - actual_position, desired_position, atol=1e-1 - ) + np.testing.assert_allclose(actual_position, desired_position, atol=1e-1) def test_random_joints() -> None: diff --git a/tests/test_tool.py b/tests/test_tool.py index 95f4f4e6..f388c819 100644 --- a/tests/test_tool.py +++ b/tests/test_tool.py @@ -11,11 +11,9 @@ def test_tool() -> None: cg = np.array([1, 2, 3]) tool.cg = cg - np.testing.assert_allclose(tool.cg, cg) # type: ignore + np.testing.assert_allclose(tool.cg, cg) p = np.array([1, 2, 3]) tool.position = p - np.testing.assert_allclose(tool.position, p) # type: ignore - np.testing.assert_allclose( # type: ignore - tool.vector, matrix_2_vector(tool.matrix) - ) + np.testing.assert_allclose(tool.position, p) + np.testing.assert_allclose(tool.vector, matrix_2_vector(tool.matrix))