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Collection math-related utilities developed at Body Labs

Project description

version python versions build status

Collection of math-related utilities developed at Body Labs.

This is a legacy library in active maintenance. The goals are:

  • Keep the library working in current versions of Python and other tools.

  • Make bug fixes.

  • Provide API stability and backward compatibility with the upstream version.

The main thrust is to transition the functionality in this library (and the code which depends on it, such as lace to new libraries include vg and polliwog. In general, new functionality should be added in the new libraries. As needed, additional libraries can be added to the lace org.


Install dependencies

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

Install the library

pip install blmath

And import it just like the upstream library:

from blmath.numerics import vx

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


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

The most commonly used of these are directly imported into blmath.numerics.

  • 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 isnumeric.

  • blmath.numerics.rounding contains functions including “round to nearest” and roundedlist.

  • blmath.numerics.numpy_ext contains numpy utility functions.

  • 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 contains linear algebra operations.


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

The most commonly used of these are directly imported into blmath.geometry.

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

Other modules:


Class for wrapping and manipulating value/units pairs.


TODO write something here



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

Tests are configured to run in both python 2.7 and 3.6 locally via tox as well as in CircleCI. To run tests in multiple versions of python, run tox:

pip install -r requirements_dev.txt

You need to make sure that python2.7 and python3.6 are valid commands; this can be done in pyenv via pyenv global 3.6.5 2.7.15


Pull requests welcome!


If you are having issues, please let us know.


This collection was developed at Body Labs and includes a combination of code developed at Body Labs, from legacy code and significant new portions by Eric Rachlin, Alex Weiss, and Paul Melnikow. It was extracted from the Body Labs codebase and open-sourced by Alex Weiss. In 2018 it was forked by Paul Melnikow and published as metablmath. Thanks to a repository and package transfer from Body Labs, the fork has been merged back into the original.


The project is licensed under the two-clause BSD license.

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