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A collection of math related utilities used by many bits of BodyLabs code

Project Description

A collection of math related utilities used by many bits of BodyLabs' code.

On macOS:

brew install homebrew/science/suite-sparse
brew install homebrew/science/opencv --without-numpy

On Linux:

sudo apt-get install python-opencv libsuitesparse-dev

On windows:

TODO: Windows install instructions


Functions for manipulating numeric arrays, numbers, and linear algebra.

The [most commonly used of these]( are directly imported into

- [blmath.numerics.vx]( is a namespace of common linear
algebra operations. These are easily expressed in numpy, but abstracted for
readability purposes.
- [blmath.numerics.coercion]( contains a validation function
`as_numeric_array`, which produces useful error messages up front on bad
inputs, in place of cryptic messages like "cannot broadcast..." later on.
- [blmath.numerics.operations]( contains basic numerical
operations such as `zero_safe_divide`.
- [blmath.numerics.predicates]( contains functions like
- [blmath.numerics.rounding]( contains functions including
"round to nearest" and `roundedlist`.
- [blmath.numerics.numpy_ext]( contains numpy utility
- [blmath.numerics.matlab]( contains some matlab shortcuts which
have no numpy equivalent. At MPI the fitting code was originally written in
Matlab before it was ported to Python.

[blmath.numerics.linalg](linalg) contains linear algebra operations.

- [blmath.numerics.linalg.sparse_cg](linalg/ contains a faster
matrix solve optimized for sparse Jacobians.
- [blmath.numerics.linalg.lchol](linalg/ contains a Cythonized
implementation of Cholesky factorization.
- [blmath.numerics.linalg.isomorphism](linalg/ computes the
isomorphism between two bases.
- [blmath.numerics.linalg.gram_schmidt](linalg/ provides a
function for orthonormalization.


Geometric operations, transforms, and primitives, in 2D and 3D.

The [most commonly used of these]( are directly imported into

- [blmath.geometry.Box](primitives/ represents an axis-aligned
- [blmath.geometry.Plane](primitives/ represents a 2-D plane in
3-space (not a hyperplane).
- [blmath.geometry.Polyline](primitives/ represents an
unconstrained polygonal chain in 3-space.

`blmath.geometry.transform` includes code for 3D transforms.

- [blmath.geometry.transform.CompositeTransform](transform/
represents a composite transform using homogeneous coordinates. (Thanks avd!)
- [blmath.geometry.transform.CoordinateManager](transform/
provides a convenient interface for named reference frames within a stack of
transforms and projecting points from one reference frame to another.
- [blmath.geometry.transform.find_rigid_transform](transform/
finds a rotation and translation that closely transforms one set of points to
another. Its cousin `find_rigid_rotation` does the same, but only allows
rotation, not translation.
- [blmath.geometry.transform.rotation.rotation_from_up_and_look](transform/
produces a rotation matrix that gets a mesh into the canonical reference frame
from "up" and "look" vectors.

Other modules:

- [blmath.geometry.apex]( provides functions for finding the most
extreme point.
- [blmath.geometry.barycentric]( provides a function for
projecting a point to a triangle using barycentric coordinates.
- [blmath.geometry.convexify]( provides a function for
producing a convex hull from a mostly-planar curve.
- [blmath.geometry.segment]( provides functions for working with
line segments in n-space.

Class for wrapping and manipulating `value`/`units` pairs.

TODO write something here

- [blmath.console.input_float]( reads and returns a float from console.
- [blmath.console.input_value]( combines `units` with a float input from console
and returns `Value` object.


pip install -r requirements_dev.txt
pip install -e . # builds the native extension
rake unittest
rake lint


- Issue Tracker:
- Source Code:

Pull requests welcome!


If you are having issues, please let us know.


The project is licensed under the two-clause BSD license.
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blmath-1.2.1-cp27-cp27m-macosx_10_12_x86_64.whl (70.1 kB) Copy SHA256 Checksum SHA256 cp27 Wheel Jun 26, 2017
blmath-1.2.1.tar.gz (51.6 kB) Copy SHA256 Checksum SHA256 Source Jun 26, 2017

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