gafropy 2.0.0

Python bindings for the GAFRO geometric-algebra robotics library

gafropy

Python bindings for the GAFRO geometric-algebra library.

gafropy mirrors the binding surface exposed by gafrojs: one Python class per concrete C++ wrapper, with no template variants or operator overloads. The intent is to expose CGA primitives (Point, Vector, Rotor, Translator, Motor, Line, Plane, Sphere, Circle, PointPair, FlatPoint, DirectionVector, TangentVector, Dilator, Transversion) and the robot System (loaded from URDF/MJCF/YAML) in an ergonomic Python API.

Visualization-specific methods (anything tied to three.js in gafrojs) are not bound. Methods that return arrays/matrices return numpy.ndarray.

Install (from source)

pip install -v .

The build pulls gafro, gafro_robot_descriptions, eigen3, yaml-cpp, tinyxml2, behemoth and sackmesser via CMake FetchContent, the same way gafrojs does.

Usage

import gafropy as ga

p = ga.Point(1.0, 0.0, 0.0)
r = ga.Rotor.from_angle_axis(0.5, 0.0, 0.0, 1.0)
t = ga.Translator(0.0, 0.0, 0.1)
m = ga.Motor(r, t)
p2 = p.apply(m)
print(p2.to_array())   # numpy.ndarray, shape (3,)