mathrobo 0.0.3

basic mathematical library for robotics reserach

Mathrobo

Mathrobo is a lightweight library designed to support mathematical optimization and computations related to robotics.

Installation

Clone the repository

git clone https://github.com/MathRobotics/MathRobo.git
cd MathRobo

Install dependencies with uv

Sync the environment from pyproject.toml and uv.lock:

uv sync

Install the package in editable mode

uv pip install -e .

Examples

Refer to the examples in the examples folder, where you can find Jupyter notebooks and scripts demonstrating various use cases of the library.

Usage

You can also work with spatial transformations using the SE3 class. The following snippet creates a 90 degree rotation around the Z axis with a translation, applies the transformation to a point and then inverts it:

import numpy as np
import mathrobo as mr

# Rotation of 90 deg about Z and translation of 1 m along X
rot = mr.SO3.exp(np.array([0.0, 0.0, 1.0]), np.pi / 2)
T = mr.SE3(rot, np.array([1.0, 0.0, 0.0]))

point = np.array([0.0, 1.0, 0.0])
transformed = T @ point
recovered = T.inv() @ transformed

print(transformed)
print(recovered)

Here is a quick example that computes the numerical gradient of a simple function:

import numpy as np
import mathrobo as mr

f = lambda x: np.sum(x**2)
x = np.array([1.0, 2.0, -3.0])
grad = mr.numerical_grad(x, f)
print(grad)

You can also perform numerical integration using the Gaussian quadrature helper gq_integrate:

import numpy as np
import mathrobo as mr

f = lambda s: np.array([np.sin(s)])
val = mr.gq_integrate(f, 0.0, np.pi, digit=5)
print(val)  # ~ 2.0

For spline trajectories, SciPy's BSpline can be used to create and evaluate a curve:

import numpy as np
from scipy.interpolate import make_interp_spline

t = np.array([0, 1, 2, 3])
points = np.array([0.0, 1.0, 0.0, 1.0])
spl = make_interp_spline(t, points, k=3)

ts = np.linspace(0, 3, 20)
ys = spl(ts)
print(ys)

Running Tests

Run the test suite with uv:

uv run pytest

Contributing

Contributions are welcome! Feel free to report issues, suggest features, or submit pull requests.

License

This project is licensed under the MIT License.