spatial-transformation 1.1.0

Helper library for operations of spatial transformation

Spatial Transformation

Installation

TL;DR

python -m venv .venv
source .venv/bin/activate

git clone [e-mail]:TrafoToolkit/spatial_transformation.git
cd spatial_transformation

pip install -e .

Usage

Basic example:

from transform.position_3d import Position3D
from transform.rotation_3d import Rotation3D
from transform.transform_3d import Transform3D

p_0 = Position3D.from_cartesian(30, 450, 20, Unit.MM_DEG)
o_0 = Rotation3D.from_EULER_INTRINSIC_XYZ(210, 120, 140, Unit.MM_DEG)

sys_R = Transform3D(p_0, o_0)


print(p_0)

Development

This project is structured according to the guidelines of hatchling 1.7.

Setup

In order to install the requirements for development, install the dependencies from the requirements.txt:

This project uses pre-commits. To setup this up, do the following:

# With activated virtual environment
pip install -r requirements.txt
pre-commit install

This will install the pre-commit hook. When trying the next commit, the tools for the code check will be installed. Further commits will not need this setup step.

This will apply the checks to all files in the repository. During a commit only the diff is style-checked, the commit is aborted, if style / format is not according to the configuration.

In order to run the files over all git-tracked files, invoke:

pre-commit run --all

Testing

Testing requires you to install pip packages pytest pytest-cov

Run bash tools/runtest.sh MARKERNAME for running the tests in test/ directory. MARKERNAME can be

• randomized for randomized tests using a random number generator with seed 0
• hardcoded for testcases that test if an operation generates a known error, so mathematical problems can be found
• or omitted for running all testcases

Coverage reports will be generated into htmlcov/

Documentation

For building the documentation you need pip packages Sphinx sphinx-autoapi and you need to install Sphinx with apt-get install python3-sphinx.

Run bash tools/generate_classdiagrams.sh for generating classdiagrams in docs/classdiagrams/ using pyreverse.

[WIP] Run bash tools/build_docs.sh for auto-generating documentation in docs/build/ using sphinx.