Skip to content

Releases: Littie28/hazy-frames

v0.2.0

15 Nov 22:41
@github-actions github-actions
v0.2.0
2efe0d3

Choose a tag to compare

View all tags
v0.2.0 Latest
Latest

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog,
and this project adheres to Semantic Versioning.

Unreleased

0.2.0 - 2025-11-15

Added

  • Comprehensive NumPy Integration: Native support for NumPy arrays and batch operations

    • from_array() factory methods for Point and Vector classes
    • list_from_array() for batch creation from NumPy arrays
    • Support for array-like inputs in Frame.point() and Frame.vector()
    • NumPy stack operations (np.stack(), np.hstack(), np.vstack()) for primitives
    • Compatibility with NumPy scalar types (np.float64, np.int32, etc.)
    • Dedicated test suite for NumPy integration (tests/test_numpy_integration.py)

  • Custom Formatters: __format__() method for GeometricPrimitive with multiple output styles

    • Standard format specifiers (e.g., :6.2f, :.3f, :10.4e) format all three components
    • 'a': Array-only format without class name or frame info
    • 'n': No-frame format showing only class name and coordinates
    • Default: Full format with class name and frame

  • Multi-Index Support: __getitem__() now supports advanced NumPy indexing

    • Integer indexing: primitive[0] returns float
    • Slicing: primitive[0:2] returns NDArray
    • Fancy indexing: primitive[[0, 2]] returns NDArray

  • Quaternion Rotation Support: Frame.rotate_quat() method for quaternion-based rotations

  • Child Frame Creation: Frame.make_child() method to create child frames directly

  • Batch Transformations: Explicit methods for batch operations

    • batch_transform_points() for transforming multiple points
    • batch_transform_vectors() for transforming multiple vectors

  • Parent-Child Tracking: Frames now maintain bidirectional parent-child relationships

    • Each frame tracks its direct children
    • Cache invalidation propagates recursively through the hierarchy

  • Documentation: Complete Sphinx documentation with ReadTheDocs integration

    • Installation guide, quick start tutorial, and API reference
    • Jupyter notebook examples integrated via nbsphinx
    • Available at hazy-frames.readthedocs.io

  • Examples: Two interactive Jupyter notebooks demonstrating core concepts

    • 01-surface_intersections.ipynb: Ray-plane intersection with coordinate transformations
    • 02-frame-hierarchies.ipynb: Parent-child relationships and dynamic transformations

  • CI/CD: GitHub Actions workflow with pytest, ruff linting, and codecov integration

  • Pre-commit Hooks: Automated code quality checks with ruff linter and formatter

Changed

  • API Naming Improvements: More consistent and pythonic naming conventions

    • Removed coords property (use np.array(primitive) instead)
    • Renamed unit_x/y/z to axis_x/y/z for frame axes
    • Removed make_ prefix from Frame.point() and Frame.vector() methods
    • Simplified Frame.scale() API: uniform scaling with single argument, per-axis with three

  • Root Frame Handling: Removed implicit singleton pattern

    • Frames can now be orphans (no parent) instead of defaulting to global singleton
    • More explicit frame hierarchy management

  • API Documentation: Comprehensive docstrings with examples for all public methods

Fixed

  • Cache Invalidation: Parent frame modifications now properly invalidate child frame caches

    • Previously, modifying a parent would cause stale transformations in child frames
    • Cache invalidation now propagates recursively through the entire hierarchy

  • Vector Batch Transform: Fixed critical bug in batch_transform_vectors_global() using incorrect homogeneous coordinate (was w=1, now correctly w=0)

  • Parent Immutability: Frame parent is now immutable after creation to maintain hierarchy consistency

Removed

  • Legacy Methods: Removed redundant Vector.unit_x/y/z() methods (use frame.axis_x/y/z instead)

0.1.0 - 2025-01-XX

Initial release of hazy-frames.

Added

  • Hierarchical frame system with parent-child relationships
  • Frame-aware geometric primitives (Point and Vector)
  • Automatic coordinate transformations between frames
  • Transformation caching for performance
  • Type-safe geometric arithmetic (e.g., Point - Point = Vector)
  • Support for rotation (Euler angles), translation, and scaling
  • NumPy array conversion via __array__() protocol
  • Comprehensive test suite with pytest
  • MIT License
Assets 5
Loading

v0.1.0 - Initial Release

09 Nov 17:51
@Littie28 Littie28
v0.1.0
1bc5790

Choose a tag to compare

View all tags
v0.1.0 - Initial Release

Installation

# From GitHub (recommended):
pip install git+https://github.com/Littie28/hazy-frames.git

# Or download the wheel and install locally:
pip install hazy_frames-0.1.0-py3-none-any.whl

Features

  • Hierarchical reference frames with parent-child relationships
  • Frame-aware geometric primitives (Point, Vector) with automatic transformations
  • Efficient transformation caching for better performance
  • Orphan frames for independent coordinate hierarchies
  • Proper geometric semantics: Point - Point = Vector, Point + Vector = Point
  • S→R→T transformation order (Scale, Rotation, Translation)

Requirements

  • Python >= 3.12
  • numpy >= 2.3.4
  • scipy >= 1.16.3

Quick Example

from hazy import Frame, Point

# Create frame hierarchy
world = Frame(name="world")
robot = Frame(parent=world, name="robot")
robot.translate(x=5, y=0, z=0).rotate_euler(z=90, degrees=True)

# Create and transform points
point = Point(1, 0, 0, frame=robot)
point_world = point.to_frame(world)

See the https://github.com/Littie28/hazy-frames for full documentation.

Loading