Spatial transformation library for CasADi Python.
Project description
spatial-casadi
This package implements various data structures and helper methods for manipulating spatial transformations using CasADi variables in Python. The library interface is partially based on the Scipy spatial module.
- Code: https://github.com/cmower/spatial-casadi
- Documentation: https://cmower.github.io/spatial-casadi/
- Issues: https://github.com/cmower/spatial-casadi/issues
Install
From source
In a new terminal:
- Clone repository:
- (ssh)
$ git clone git@github.com:cmower/spatial-casadi.git
, or - (https)
$ git clone https://github.com/cmower/spatial-casadi.git
- (ssh)
- Change directory:
$ cd spatial-casadi
- Ensure
pip
is up-to-date:$ python -m pip install --upgrade pip
- Install from source:
- (main library)
$ pip install .
- (when you want to also run the test scripts)
$ pip install .[test]
- (main library)
Running the test scripts
- Install
spatial-casadi
from source and ensure you install thetest
packages (see previous section). - Change directory:
$ cd /path/to/spatial-casadi
- Run tests:
pytest
Build documentation
In a new terminal:
- Clone repository:
- (ssh)
$ git clone git@github.com:cmower/spatial-casadi.git
, or - (https)
$ git clone https://github.com/cmower/spatial-casadi.git
- (ssh)
- Change directory:
$ cd spatial-casadi/doc
- Install doxygen:
$ sudo apt install doxygen
- Build documentation:
$ doxygen
- View documentation:
- In a browser, open
html/index.html
- Build pdf (requires LaTeX)
$ cd latex
$ make
- Open the file called
refman.pdf
- In a browser, open
Citing
If you use spatial-casadi
in your work, please consider citing the following.
@software{Mower2023
title="Spatial CasADi: A Compact Library for Manipulating Spatial Transformations",
author = "Christopher E. Mower",
year="2023",
url = {https://github.com/cmower/spatial-casadi},
}
Contributing
If you have any issues with the library, or find inaccuracies in the documentation please raise an issue. I am happy to consider new features if you fork the library and submit a pull request.
Project details
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