8000 keep refactoring · Robertleoj/spatialmath-python@b959426 · GitHub
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RobertleojRobertleoj
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keep refactoring
1 parent 3b54b75 commit b959426

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‎poetry.lock

Lines changed: 2 additions & 104 deletions
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‎pyproject.toml

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@@ -38,7 +38,7 @@ classifiers = [
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]
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[tool.poetry.dependencies]
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python = ">=3.10"
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python = ">=3.11"
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numpy = ">=2.1.0"
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scipy = "*"
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matplotlib = ">=3.9.3"

‎spatialmath/DualQuaternion.py

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@@ -1,8 +1,9 @@
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from __future__ import annotations
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import numpy as np
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from spatialmath import Quaternion, UnitQuaternion, SE3
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from spatialmath import Quaternion, UnitQuaternion
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from spatialmath import base
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from spatialmath.base.types import *
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from spatialmath.base.types import ArrayLike3, R8x8, R8
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from typing import Self, overload
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# TODO scalar multiplication
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@@ -97,7 +98,7 @@ def __str__(self) -> str:
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"""
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return str(self.real) + " + ε " + str(self.dual)
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def norm(self) -> Tuple[float, float]:
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def norm(self) -> tuple[float, float]:
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"""
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Norm of a dual quaternion
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@@ -269,6 +270,7 @@ class UnitDualQuaternion(DualQuaternion):
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@overload
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def __init__(self, T: SE3): ...
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@overload
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def __init__(self, real: Quaternion, dual: Quaternion): ...
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def __init__(self, real=None, dual=None):

‎spatialmath/__init__.py

Lines changed: 2 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
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from spatialmath.pose2d import SO2, SE2
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from spatialmath.pose3d import SO3, SE3
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import importlib.metadata
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from spatialmath.baseposematrix import BasePoseMatrix
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from spatialmath.geom2d import Line2, LineSegment2, Polygon2, Ellipse
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from spatialmath.geom3d import Line3, Plane3
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"SplineFit",
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]
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try:
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import importlib.metadata
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__version__ = importlib.metadata.version("spatialmath-python")
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except:
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pass
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__version__ = importlib. 3212 metadata.version("spatialmath-python")

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