Merge branch 'master' into improve-urdf-loading

.gitignore

@@ -9,3 +9,7 @@ notebooks/*/.ipynb_*
 .sass-cache/
 src/*.egg-info/
 *.odg
+.pytest_cache
+*.egg-info
+*.ipynb_checkpoints
+.idea

.travis.yml

@@ -1,12 +1,10 @@
 language: python
 python:
   - "2.7"
-  - "3.4"
   - "3.5"
   - "3.6"
 install:
-  - pip install .
-script: cd tests/ikpy && ./tests.sh
+  - pip install .[plot]
+  - pip install pytest
+script: cd tests && ./tests.sh
 cache: pip
-dist: trusty
-sudo: false

README.md

@@ -11,11 +11,12 @@
 ![demo](two_arms.png)
 
 # Demo
-A live demo of what IKpy can do : (click on the image below to see the video)
+Live demos of what IKPy can do : (click on the image below to see the video)
 
 [![](http://img.youtube.com/vi/H0ysr5qSbis/0.jpg)](https://www.youtube.com/watch?v=H0ysr5qSbis)
+[![](http://img.youtube.com/vi/Jq0-DkEwwj4/0.jpg)](https://www.youtube.com/watch?v=Jq0-DkEwwj4)
 
-Also, a presentation of IKPy : [Presentation](https://github.com/Phylliade/ikpy/blob/master/tutorials/ikpy/IKPy%20speech.pdf).
+Also, a presentation of IKPy : [Presentation](https://github.com/Phylliade/ikpy/blob/master/tutorials/IKPy%20speech.pdf).
 
 # Features
 With IKPy, you can :
@@ -38,7 +39,7 @@ You have three options :
    ```bash
    pip install ikpy
    ```
-  If you intend to plot your robot, you can install the plotting dependencies (mainly matplotlib) : 
+  If you intend to plot your robot, you can install the plotting dependencies (mainly matplotlib) :
   ```bash
   pip install 'ikpy[plot]'
   ```
@@ -56,7 +57,7 @@ You have three options :
    NB : You must have the proper rights to execute this command
 
 # Quickstart
-Follow this IPython [notebook](https://github.com/Phylliade/ikpy/blob/master/tutorials/ikpy/Quickstart.ipynb).
+Follow this IPython [notebook](https://github.com/Phylliade/ikpy/blob/master/tutorials/Quickstart.ipynb).
 
 
 # Guides and Tutorials

doc/conf.py

@@ -41,6 +41,7 @@ def __getattr__(cls, name):
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 sys.path.insert(0, os.path.abspath("../src"))
+import ikpy
 
 # -- General configuration ------------------------------------------------
 
@@ -58,6 +59,7 @@ def __getattr__(cls, name):
     'sphinx.ext.coverage',
     'sphinx.ext.mathjax',
     'sphinx.ext.viewcode',
+    'sphinx.ext.napoleon'
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -76,17 +78,19 @@ def __getattr__(cls, name):
 
 # General information about the project.
 project = 'ikpy'
-copyright = '2015, Pierre Manceron'
+copyright = '2015-2018, Pierre Manceron'
 author = 'Pierre Manceron'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
 # built documents.
 #
 # The short X.Y version.
-version = '1.9.99-1'
+version = ikpy.__version__
+release = version
+# version = '1.9.99-1'
 # The full version, including alpha/beta/rc tags.
-release = '1.9.99-1'
+# release = '1.9.99-1'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

setup.py

@@ -1,20 +1,31 @@
 #!/usr/bin/env python
-from setuptools import setup
+from setuptools import setup, find_packages
+import os
 
-setup(name='ikpy',
-      version='2.2.3',
-      author="Pierre Manceron",
-      description="An inverse kinematics library aiming performance and modularity",
-      url="https://github.com/Phylliade/ikpy",
-      license="GNU GENERAL PUBLIC LICENSE Version 3",
-      packages=['ikpy'],
-      package_dir={'': 'src'},
-      setup_requires=['numpy'],
-      install_requires=['numpy', 'scipy', 'sympy', "matplotlib"],
-      # TODO: Move maptlotlib to extra_requires
-      classifiers=[
-          "Programming Language :: Python :: 2",
-          "Programming Language :: Python :: 3",
-          "Topic :: Scientific/Engineering",
-      ]
-      )
+
+def get_version():
+    version = {}
+    with open(os.path.join(os.path.dirname(__file__), "src/ikpy/_version.py")) as fp:
+        exec(fp.read(), version)
+    return version["__version__"]
+
+
+setup(
+    name='ikpy',
+    version=get_version(),
+    author="Pierre Manceron",
+    description="An inverse kinematics library aiming performance and modularity",
+    url="https://github.com/Phylliade/ikpy",
+    license="GNU GENERAL PUBLIC LICENSE Version 3",
+    packages=find_packages("src", exclude=("tests", "docs")),
+    package_dir={'': 'src'},
+    setup_requires=['numpy'],
+    install_requires=['numpy', 'scipy', 'sympy'],
+    extras_require={
+        'plot': ["matplotlib"],
+    },
+    classifiers=[
+        "Programming Language :: Python :: 2",
+        "Programming Language :: Python :: 3",
+        "Topic :: Scientific/Engineering",
+    ])

src/ikpy/URDF_utils.py

@@ -1,6 +1,7 @@
 # coding= utf8
 """
-.. module:: URDF_utils
+URDF_utils module
+
 This module contains helper functions used to parse URDF.
 """
 
@@ -13,10 +14,15 @@
 
 
 def find_next_joint(root, current_link, next_joint_name):
-    """Find the next joint in the URDF tree
-
-    :param xml.etree.ElementTree current_link: The current URDF link
-    :param string next_joint_name: Optional : The name of the next joint
+    """
+    Find the next joint in the URDF tree
+
+    Parameters
+    ----------
+    current_link: xml.etree.ElementTree
+        The current URDF link
+    next_joint_name: str
+        Optional : The name of the next joint
     """
     # Trouver le joint attaché
     has_next = False
@@ -45,10 +51,15 @@ def find_next_joint(root, current_link, next_joint_name):
 
 
 def find_next_link(root, current_joint, next_link_name):
-    """Find the next link in the URDF tree
-
-    :param xml.etree.ElementTree current_joint: The current URDF joint
-    :param string next_link_name: Optional : The name of the next link
+    """
+    Find the next link in the URDF tree
+
+    Parameters
+    ----------
+    current_joint: xml.etree.ElementTree
+        The current URDF joint
+    next_link_name: str
+        Optional : The name of the next link
     """
     has_next = False
     next_link = None
@@ -83,14 +94,17 @@ def get_chain_from_joints(urdf_file, joints):
 
 
 def get_urdf_parameters(urdf_file, base_elements=["base_link"], last_link_vector=None, base_element_type="link"):
-    """Returns translated parameters from the given URDF file
-
-   :param urdf_file: The path of the URDF file
-   :type urdf_file: string
-   :param base_elements: List of the links beginning the chain
-   :type base_elements: list of strings
-   :param last_link_vector: Optional : The translation vector of the tip.
-   :type last_link_vector: numpy.array
+    """
+    Returns translated parameters from the given URDF file
+
+    Parameters
+    ----------
+    urdf_file: str
+        The path of the URDF file
+    base_elements: list of strings
+        List of the links beginning the chain
+    last_link_vector: numpy.array
+        Optional : The translation vector of the tip.
     """
     tree = ET.parse(urdf_file)
     root = tree.getroot()
@@ -180,7 +194,7 @@ def get_urdf_parameters(urdf_file, base_elements=["base_link"], last_link_vector
 
 
 def _get_motor_parameters(json_file):
-    """Returns a dictionnary with joints as keys, and a description (dict) of each joint as value"""
+    """Returns a dictionary with joints as keys, and a description (dict) of each joint as value"""
     with open(json_file) as motor_fd:
         global_config = json.load(motor_fd)
 

src/ikpy/__init__.py

@@ -1 +1,2 @@
 from . import chain
+from ._version import __version__

src/ikpy/_version.py

@@ -0,0 +1,2 @@
+__version__ = '2.2.3'
+

src/ikpy/chain.py

@@ -3,19 +3,25 @@
 .. module:: chain
 This module implements the Chain class.
 """
+import numpy as np
 
+# IKPY imports
 from . import URDF_utils
 from . import inverse_kinematics as ik
-import numpy as np
 from . import link as link_lib
 
 
 class Chain(object):
     """The base Chain class
 
-    :param list links: List of the links of the chain
-    :param list active_links_mask: A list of boolean indicating that whether or not the corresponding link is active
-    :param string name: The name of the Chain
+    Parameters
+    ----------
+    links: list
+        List of the links of the chain
+    active_links_mask: list
+        A list of boolean indicating that whether or not the corresponding link is active
+    name: str
+        The name of the Chain
     """
     def __init__(self, links, active_links_mask=None, name="chain", profile=''"", **kwargs):
         self.name = name
@@ -37,14 +43,22 @@ def __init__(self, links, active_links_mask=None, name="chain", profile=''"", **
             self.active_links_mask = np.array([True] * len(links))
 
     def __repr__(self):
-        return("Kinematic chain name={} links={} active_links={}".format(self.name, self.links, self.active_links_mask))
+        return "Kinematic chain name={} links={} active_links={}".format(self.name, self.links, self.active_links_mask)
 
     def forward_kinematics(self, joints, full_kinematics=False):
         """Returns the transformation matrix of the forward kinematics
 
-        :param list joints: The list of the positions of each joint. Note : Inactive joints must be in the list.
-        :param bool full_kinematics: Return the transorfmation matrixes of each joint
-        :returns: The transformation matrix
+        Parameters
+        ----------
+        joints: list
+            The list of the positions of each joint. Note : Inactive joints must be in the list.
+        full_kinematics: bool
+            Return the transformation matrices of each joint
+
+        Returns
+        -------
+        frame_matrix:
+            The transformation matrix
         """
         frame_matrix = np.eye(4)
 
@@ -71,9 +85,16 @@ def forward_kinematics(self, joints, full_kinematics=False):
     def inverse_kinematics(self, target, initial_position=None, **kwargs):
         """Computes the inverse kinematic on the specified target
 
-        :param numpy.array target: The frame target of the inverse kinematic, in meters. It must be 4x4 transformation matrix
-        :param numpy.array initial_position: Optional : the initial position of each joint of the chain. Defaults to 0 for each joint
-        :returns: The list of the positions of each joint according to the target. Note : Inactive joints are in the list.
+        Parameters
+        ----------
+        target: numpy.array
+            The frame target of the inverse kinematic, in meters. It must be 4x4 transformation matrix
+        initial_position: numpy.array
+            Optional : the initial position of each joint of the chain. Defaults to 0 for each joint
+
+        Returns
+        -------
+        The list of the positions of each joint according to the target. Note : Inactive joints are in the list.
         """
         # Checks on input
         target = np.array(target)
@@ -88,10 +109,16 @@ def inverse_kinematics(self, target, initial_position=None, **kwargs):
     def plot(self, joints, ax, target=None, show=False):
         """Plots the Chain using Matplotlib
 
-        :param list joints: The list of the positions of each joint
-        :param matplotlib.axes.Axes ax: A matplotlib axes
-        :param numpy.array target: An optional target
-        :param bool show: Display the axe. Defaults to False
+        Parameters
+        ----------
+        joints: list
+            The list of the positions of each joint
+        ax: matplotlib.axes.Axes
+            A matplotlib axes
+        target: numpy.array
+            An optional target
+        show: bool
+            Display the axe. Defaults to False
         """
         from . import plot_utils
 
@@ -111,14 +138,18 @@ def plot(self, joints, ax, target=None, show=False):
     def from_urdf_file(cls, urdf_file, base_elements=["base_link"], last_link_vector=None, base_element_type="link", active_links_mask=None, name="chain"):
         """Creates a chain from an URDF file
 
-       :param urdf_file: The path of the URDF file
-       :type urdf_file: string
-       :param base_elements: List of the links beginning the chain
-       :type base_elements: list of strings
-       :param last_link_vector: Optional : The translation vector of the tip.
-       :type last_link_vector: numpy.array
-       :param list active_links: The active links
-       :param string Name: The name of the Chain
+        Parameters
+        ----------
+        urdf_file: str
+            The path of the URDF file
+        base_elements: list of strings
+            List of the links beginning the chain
+        last_link_vector: numpy.array
+            Optional : The translation vector of the tip.
+        active_links: list
+            The active links
+        name: str
+            The name of the Chain
         """
         links = URDF_utils.get_urdf_parameters(urdf_file, base_elements=base_elements, last_link_vector=last_link_vector, base_element_type=base_element_type)
         # Add an origin link at the beginning

src/ikpy/geometry_utils.py

@@ -95,8 +95,12 @@ def from_transformation_matrix(transformation_matrix):
 def to_transformation_matrix(translation, orientation_matrix=np.zeros((3, 3))):
     """Converts a tuple (translation_vector, orientation_matrix)  to a transformation matrix
 
-    :param np.array translation: The translation of your frame presented as a 3D vector.
-    :param np.array orientation_matrix: Optional : The orientation of your frame, presented as a 3x3 matrix.
+    Parameters
+    ----------
+    translation: numpy.array
+        The translation of your frame presented as a 3D vector.
+    orientation_matrix: numpy.array
+        Optional : The orientation of your frame, presented as a 3x3 matrix.
     """
     matrix = np.eye(4)
 
@@ -133,8 +137,8 @@ def cartesian_to_homogeneous_vectors(cartesian_vector, matrix_type="numpy"):
 
 
 def homogeneous_to_cartesian_vectors(homogeneous_vector):
-        """Converts a cartesian vector to an homogenous vector"""
-        return homogeneous_vector[:-1]
+    """Converts a cartesian vector to an homogenous vector"""
+    return homogeneous_vector[:-1]
 
 
 def homogeneous_to_cartesian(homogeneous_matrix):