__init__.py

# Part of Spatial Math Toolbox for Python
# Copyright (c) 2000 Peter Corke
# MIT Licence, see details in top-level file: LICENCE

from spatialmath.base.argcheck import *  # lgtm [py/polluting-import]
from spatialmath.base.quaternions import *  # lgtm [py/polluting-import]
from spatialmath.base.transforms2d import *  # lgtm [py/polluting-import]
from spatialmath.base.transforms3d import *  # lgtm [py/polluting-import]
from spatialmath.base.transformsNd import *  # lgtm [py/polluting-import]
from spatialmath.base.vectors import *  # lgtm [py/polluting-import]
from spatialmath.base.symbolic import *  # lgtm [py/polluting-import]
from spatialmath.base.numeric import *  # lgtm [py/polluting-import]

import importlib

# `animate` and `graphics` both import Matplotlib, which is slow to import
# (mostly backend resolution in matplotlib.pyplot) and is only actually
# needed once something tries to plot. Load them lazily, on first access
# of one of their names below, instead of unconditionally at package
# import time.
_LAZY_SUBMODULES = ("animate", "graphics")

_LAZY_ATTRS = {
    "Animate": "animate",
    "Animate2": "animate",
    "plot_text": "graphics",
    "plot_point": "graphics",
    "plot_homline": "graphics",
    "plot_box": "graphics",
    "plot_arrow": "graphics",
    "plot_polygon": "graphics",
    "circle": "graphics",
    "plot_circle": "graphics",
    "ellipse": "graphics",
    "plot_ellipse": "graphics",
    "sphere": "graphics",
    "plot_sphere": "graphics",
    "ellipsoid": "graphics",
    "plot_ellipsoid": "graphics",
    "cylinder": "graphics",
    "plot_cylinder": "graphics",
    "plot_cone": "graphics",
    "plot_cuboid": "graphics",
    "axes_logic": "graphics",
    "set_window_title": "graphics",
    "plotvol2": "graphics",
    "plotvol3": "graphics",
    "expand_dims": "graphics",
    "isnotebook": "graphics",
}


def __getattr__(name):
    if name in _LAZY_SUBMODULES:
        return importlib.import_module(f"spatialmath.base.{name}")
    modname = _LAZY_ATTRS.get(name)
    if modname is None:
        raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
    module = importlib.import_module(f"spatialmath.base.{modname}")
    value = getattr(module, name)
    globals()[name] = value  # cache so future lookups skip __getattr__
    return value


from spatialmath.base.argcheck import (
    assertmatrix,
    ismatrix,
    getvector,
    assertvector,
    isvector,
    isscalar,
    getunit,
    isnumberlist,
    isvectorlist,
)

# from spatialmath.base.quaternions import (
#     pure,
#     qnorm,
#     unit,
#     isunit,
#     isequal,
#     q2v,
#     v2q,
#     qqmul,
#     inner,
#     qvmul,
#     vvmul,
#     qpow,
#     conj,
#     q2r,
#     r2q,
#     slerp,
#     rand,
#     matrix,
#     dot,
#     dotb,
#     angle,
#     qprint,
# )
# from spatialmath.base.transforms2d import (
#     rot2,
#     trot2,
#     transl2,
#     ishom2,
#     isrot2,
#     trlog2,
#     trexp2,
#     tr2jac2,
#     trinterp2,
#     trprint2,
#     trplot2,
#     tranimate2,
#     xyt2tr,
#     tr2xyt,
#     trinv2,
# )
# from spatialmath.base.transforms3d import (
#     rotx,
#     roty,
#     rotz,
#     trotx,
#     troty,
#     trotz,
#     transl,
#     ishom,
#     isrot,
#     rpy2r,
#     rpy2tr,
#     eul2r,
#     eul2tr,
#     angvec2r,
#     angvec2tr,
#     exp2r,
#     exp2tr,
#     oa2r,
#     oa2tr,
#     tr2angvec,
#     tr2eul,
#     tr2rpy,
#     trlog,
#     trexp,
#     trnorm,
#     trinterp,
#     delta2tr,
#     trinv,
#     tr2delta,
#     tr2jac,
#     rpy2jac,
#     eul2jac,
#     exp2jac,
#     rot2jac,
#     angvelxform,
#     trprint,
#     trplot,
#     tranimate,
# )
# from spatialmath.base.transformsNd import (
#     t2r,
#     r2t,
#     tr2rt,
#     rt2tr,
#     Ab2M,
#     isR,
#     isskew,
#     isskewa,
#     iseye,
#     skew,
#     vex,
#     skewa,
#     vexa,
#     h2e,
#     e2h,
#     homtrans,
#     rodrigues,
# )
from spatialmath.base.vectors import (
    colvec,
    unitvec,
    unitvec_norm,
    norm,
    normsq,
    isunitvec,
    iszerovec,
    isunittwist,
    isunittwist2,
    unittwist,
    unittwist_norm,
    unittwist2,
    angdiff,
    removesmall,
    cross,
    iszero,
    wrap_0_2pi,
    wrap_mpi_pi,
)

# from spatialmath.base.symbolic import *
# from spatialmath.base.animate import Animate, Animate2
# from spatialmath.base.graphics import (
#     plotvol2,
#     plotvol3,
#     plot_point,
#     plot_text,
#     plot_box,
#     plot_poly,
#     circle,
#     ellipse,
#     sphere,
#     ellipsoid,
#     plot_box,
#     plot_circle,
#     plot_ellipse,
#     plot_homline,
#     plot_sphere,
#     plot_ellipsoid,
#     plot_cylinder,
#     plot_cone,
#     plot_cuboid,
#     axes_logic,
#     isnotebook,
# )
# from spatialmath.base.numeric import numjac, array2str, bresenham


__all__ = [
    # spatialmath.base.argcheck
    "assertmatrix",
    "ismatrix",
    "getvector",
    "assertvector",
    "isvector",
    "isscalar",
    "getunit",
    "isnumberlist",
    "isvectorlist",
    # spatialmath.base.quaternions
    "qpure",
    "qnorm",
    "qunit",
    "qisunit",
    "qisequal",
    "q2v",
    "v2q",
    "qqmul",
    "qinner",
    "qvmul",
    "vvmul",
    "qpow",
    "qconj",
    "q2r",
    "r2q",
    "qslerp",
    "qrand",
    "qmatrix",
    "qdot",
    "qdotb",
    "qangle",
    "qprint",
    "q2str",
    # spatialmath.base.transforms2d
    "pos2tr2",
    "rot2",
    "trot2",
    "transl2",
    "ishom2",
    "isrot2",
    "trlog2",
    "trexp2",
    "trnorm2",
    "tr2jac2",
    "tr2pos2",
    "tr2adjoint2",
    "tradjoint2",
    "trinterp2",
    "trprint2",
    "tr2str2",
    "trplot2",
    "tranimate2",
    "xyt2tr",
    "tr2xyt",
    "trinv2",
    # spatialmath.base.transforms3d
    "rotx",
    "roty",
    "rotz",
    "trotx",
    "troty",
    "trotz",
    "transl",
    "ishom",
    "isrot",
    "rpy2r",
    "rpy2tr",
    "eul2r",
    "eul2tr",
    "angvec2r",
    "angvec2tr",
    "exp2r",
    "exp2tr",
    "oa2r",
    "oa2tr",
    "rodrigues",
    "tr2angvec",
    "tr2eul",
    "tr2rpy",
    "trlog",
    "trexp",
    "trnorm",
    "trinterp",
    "delta2tr",
    "trinv",
    "tr2delta",
    "tr2jac",
    "tr2adjoint",
    "rpy2jac",
    "eul2jac",
    "exp2jac",
    "rot2jac",
    "trprint",
    "tr2str",
    "trplot",
    "tranimate",
    "tr2x",
    "x2tr",
    "r2x",
    "x2r",
    "rotvelxform",
    "rotvelxform_inv_dot",
    # deprecated
    "angvelxform",
    "angvelxform_dot",
    # spatialmath.base.transformsNd
    "t2r",
    "r2t",
    "tr2rt",
    "rt2tr",
    "Ab2M",
    "isR",
    "isskew",
    "isskewa",
    "iseye",
    "skew",
    "vex",
    "skewa",
    "vexa",
    "h2e",
    "e2h",
    "homtrans",
    # spatialmath.base.vectors
    "colvec",
    "unitvec",
    "unitvec_norm",
    "norm",
    "normsq",
    "isunitvec",
    "iszerovec",
    "isunittwist",
    "isunittwist2",
    "unittwist",
    "unittwist_norm",
    "unittwist2",
    "angdiff",
    "removesmall",
    "cross",
    "iszero",
    "wrap_0_2pi",
    "wrap_mpi_pi",
    "wrap_0_pi",
    # spatialmath.base.animate
    "Animate",
    "Animate2",
    # spatial.base.graphics
    "plotvol2",
    "plotvol3",
    "plot_point",
    "plot_text",
    "plot_box",
    "plot_polygon",
    "circle",
    "ellipse",
    "sphere",
    "ellipsoid",
    "plot_box",
    "plot_arrow",
    "plot_circle",
    "plot_ellipse",
    "plot_homline",
    "plot_sphere",
    "plot_ellipsoid",
    "plot_cylinder",
    "plot_cone",
    "plot_cuboid",
    "axes_logic",
    "set_window_title",
    "expand_dims",
    "isnotebook",
    # spatial.base.numeric
    "numjac",
    "numhess",
    "array2str",
    "str2array",
    "bresenham",
    "mpq_point",
    "gauss1d",
    "gauss2d",
]