latest pushes

.gitignore

@@ -1,4 +0,0 @@
-publish.sh
-tests
-setup.py
-dist

Package/python/publish.sh

@@ -0,0 +1,2 @@
+python setup.py sdist
+twine upload dist/*

Package/python/setup.py

@@ -0,0 +1,44 @@
+from setuptools import setup, find_packages
+
+with open("README.md", "r", encoding="utf-8") as fh:
+    long_description = fh.read()
+
+setup(
+    name="bellande_step",
+    version="0.3.3",
+    description="Robots Step",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    author="RonaldsonBellande",
+    author_email="ronaldsonbellande@gmail.com",
+    packages=find_packages(where="src"),
+    package_dir={"": "src"},
+    include_package_data=True,
+    install_requires=[
+        "numpy",
+    ],
+    classifiers=[
+        "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+        "Programming Language :: Python",
+    ],
+    keywords=["package", "setuptools"],
+    python_requires=">=3.0",
+    extras_require={
+        "dev": ["pytest", "pytest-cov[all]", "mypy", "black"],
+    },
+    package_data={
+        'bellande_step': ['Bellande_Step'],
+    },
+    entry_points={
+        'console_scripts': [
+            'bellande_step_executable = bellande_step.bellande_step_executable:main',
+            'bellande_step_api = bellande_step.bellande_step_api:main',
+        ],
+    },
+    project_urls={
+        "Home": "https://github.com/Robotics-Sensors/bellande_step",
+        "Homepage": "https://github.com/Robotics-Sensors/bellande_step",
+        "documentation": "https://github.com/Robotics-Sensors/bellande_step",
+        "repository": "https://github.com/Robotics-Sensors/bellande_step",
+    },
+)

Package/python/src/bellande_step/bellande_step_api.py

@@ -0,0 +1,78 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+#!/usr/bin/env python3
+
+import requests
+import argparse
+import json
+import sys
+
+def make_bellande_step_request(node0, node1, limit, dimensions):
+    url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd"
+    
+    # Convert string inputs to lists if they're strings
+    if isinstance(node0, str):
+        node0 = json.loads(node0)
+    if isinstance(node1, str):
+        node1 = json.loads(node1)
+    
+    payload = {
+        "node0": node0,
+        "node1": node1,
+        "limit": limit,
+        "dimensions": dimensions,
+        "auth": {
+            "authorization_key": "bellande_web_api_opensource"
+        }
+    }
+    
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json'
+    }
+    
+    try:
+        response = requests.post(url, json=payload, headers=headers)
+        response.raise_for_status()
+        return response.json()
+    except requests.RequestException as e:
+        print(f"Error making request: {e}", file=sys.stderr)
+        sys.exit(1)
+
+def main():
+    parser = argparse.ArgumentParser(description="Run Bellande Step API")
+    parser.add_argument("--node0", required=True, help="First coordinate as JSON-formatted list")
+    parser.add_argument("--node1", required=True, help="Second coordinate as JSON-formatted list")
+    parser.add_argument("--limit", type=int, required=True, help="Limit for the algorithm")
+    parser.add_argument("--dimensions", type=int, required=True, help="Number of dimensions")
+    
+    args = parser.parse_args()
+    
+    try:
+        result = make_bellande_step_request(
+            args.node0,
+            args.node1,
+            args.limit,
+            args.dimensions
+        )
+        
+        print(json.dumps(result, indent=2))
+    except json.JSONDecodeError as e:
+        print(f"Error: Invalid JSON format in coordinates - {e}", file=sys.stderr)
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()

Package/python/src/bellande_step/bellande_step_executable.py

@@ -29,24 +29,24 @@ def get_executable_path():
     
     return os.path.join(application_path, 'Bellande_Step')
 
-def run_bellande_step(coord1, coord2, limit, dimensions):
+def run_bellande_step(node0, node1, limit, dimensions):
     executable_path = get_executable_path()
     passcode = "bellande_step_executable_access_key"
 
     # Convert string representations of coordinates to actual lists
-    coord1_list = json.loads(coord1)
-    coord2_list = json.loads(coord2)
+    node0_list = json.loads(node0)
+    node1_list = json.loads(node1)
 
     # Validate input
-    if len(coord1_list) != dimensions or len(coord2_list) != dimensions:
+    if len(node1_list) != dimensions or len(node0_list) != dimensions:
         raise ValueError(f"Coordinates must have {dimensions} dimensions")
 
     # Prepare the command
     command = [
         executable_path,
         passcode,
-        json.dumps(coord1_list),
-        json.dumps(coord2_list),
+        json.dumps(node0_list),
+        json.dumps(node1_list),
         str(limit),
         str(dimensions)
     ]
@@ -54,23 +54,23 @@ def run_bellande_step(coord1, coord2, limit, dimensions):
     # Run the command
     try:
         result = subprocess.run(command, check=True, capture_output=True, text=True)
-        print("Output:", result.stdout)
+        print(result.stdout)
     except subprocess.CalledProcessError as e:
         print("Error occurred:", e)
         print("Error output:", e.stderr)
 
 def main():
-    parser = argparse.ArgumentParser(description="Run Bellande Step executable")
-    parser.add_argument("coord1", help="First coordinate as a JSON-formatted list")
-    parser.add_argument("coord2", help="Second coordinate as a JSON-formatted list")
-    parser.add_argument("limit", type=int, help="Limit for the algorithm")
-    parser.add_argument("dimensions", type=int, help="Number of dimensions")
+    parser = argparse.ArgumentParser(description="Run Bellande Step Executable")
+    parser.add_argument("--node0", help="First coordinate as a JSON-formatted list")
+    parser.add_argument("--node1", help="Second coordinate as a JSON-formatted list")
+    parser.add_argument("--limit", type=int, help="Limit for the algorithm")
+    parser.add_argument("--dimensions", type=int, help="Number of dimensions")
     
     args = parser.parse_args()
 
     run_bellande_step(
-        args.coord1,
-        args.coord2,
+        args.node0,
+        args.node1,
         args.limit,
         args.dimensions
     )

README.md

@@ -186,7 +186,7 @@ You want to compute the next step from `node0` towards `node1` while limiting th
 
 ```python
 # Define Import 
-from bellande_step.bellande_step_2d import bellande_step_2d, Node2D
+from bellande_step.bellande_step_2d import bellande_step_2d
 
 # Define the nodes
 node0 = Node2D(0, 0)
@@ -209,7 +209,7 @@ You want to compute the next step from `node0` towards `node1` while limiting th
 
 ```python
 # Define Import 
-from bellande_step.bellande_step_3d import bellande_step_3d, Node3D 
+from bellande_step.bellande_step_3d import bellande_step_3d
 
 # Define the nodes
 node0 = Node3D(0, 0, 0)

configs/bellande/http_configs.bellande

@@ -16,6 +16,6 @@
 url: https://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource

configs/bellande/tcp_configs.bellande

@@ -16,6 +16,6 @@
 url: tcp://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource

configs/bellande/tls_configs.bellande

@@ -16,6 +16,6 @@
 url: tls://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource

git_scripts/.gitignore

@@ -0,0 +1,3 @@
+fix_errors.sh
+push.sh
+repository_recal.sh

run_api.bellos

@@ -1,5 +1,5 @@
 curl -X 'POST' \
-  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step' \
   -H 'accept: application/json' \
   -H 'Content-Type: application/json' \
   -d '{

run_api.sh

@@ -1,5 +1,5 @@
 curl -X 'POST' \
-  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step' \
   -H 'accept: application/json' \
   -H 'Content-Type: application/json' \
   -d '{

src/bellande_step/bellande_step_10d.py

@@ -1,97 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node10D:
-    def __init__(self, x, y, z, w, v, u, t, s, r, l, parent=None):
-        self.coord = (x, y, z, w, v, u, t, s, r, l)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-    @property
-    def u(self):
-        return self.coord[5]
-
-    @property
-    def t(self):
-        return self.coord[6]
-
-    @property
-    def s(self):
-        return self.coord[7]
-
-    @property
-    def r(self):
-        return self.coord[8]
-
-    @property
-    def l(self):
-        return self.coord[9]
-
-
-
-
-def bellande_step_10d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    delta_u = node1.u - node0.u
-    delta_t = node1.t - node0.t
-    delta_s = node1.s - node0.s
-    delta_r = node1.r - node0.r
-    delta_l = node1.l - node0.l
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2 + delta_u ** 2 + delta_t ** 2 + delta_s ** 2 + delta_r ** 2 + delta_l ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    step_u = node0.u + delta_u * ratio
-    step_t = node0.t + delta_t * ratio
-    step_s = node0.s + delta_s * ratio
-    step_r = node0.r + delta_r * ratio
-    step_l = node0.l + delta_l * ratio
-    
-    return Node10D(step_x, step_y, step_z, step_w, step_v, step_u, step_t, step_s, step_r, step_l)

src/bellande_step/bellande_step_2d.py

@@ -1,46 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node2D:
-    def __init__(self, x, y, parent=None):
-        self.coord = (x, y)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-
-def bellande_step_2d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2)
-
-    if dist < limit:
-        return node1
-
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-
-    return Node2D(step_x, step_y)

src/bellande_step/bellande_step_3d.py

@@ -1,54 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node3D:
-    def __init__(self, x, y, z, parent=None):
-        self.coord = (x, y, z)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-
-
-def bellande_step_3d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    
-    return Node3D(step_x, step_y, step_z)

src/bellande_step/bellande_step_4d.py

@@ -1,59 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node4D:
-    def __init__(self, x, y, z, w, parent=None):
-        self.coord = (x, y, z, w)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-
-def bellande_step_4d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    
-    return Node4D(step_x, step_y, step_z, step_w)

src/bellande_step/bellande_step_5d.py

@@ -1,66 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node5D:
-    def __init__(self, x, y, z, w, v, parent=None):
-        self.coord = (x, y, z, w, v)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-
-
-def bellande_step_5d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    
-    return Node5D(step_x, step_y, step_z, step_w, step_v)

src/bellande_step/bellande_step_6d.py

@@ -1,72 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node6D:
-    def __init__(self, x, y, z, w, v, u, parent=None):
-        self.coord = (x, y, z, w, v, u)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-    @property
-    def u(self):
-        return self.coord[5]
-
-
-
-def bellande_step_6d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    delta_u = node1.u - node0.u
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2 + delta_u ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    step_u = node0.u + delta_u * ratio
-    
-    return Node6D(step_x, step_y, step_z, step_w, step_v, step_u)

src/bellande_step/bellande_step_7d.py

@@ -1,77 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node7D:
-    def __init__(self, x, y, z, w, v, u, t, parent=None):
-        self.coord = (x, y, z, w, v, u, t)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-    @property
-    def u(self):
-        return self.coord[5]
-
-    @property
-    def t(self):
-        return self.coord[6]
-
-
-def bellande_step_7d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    delta_u = node1.u - node0.u
-    delta_t = node1.t - node0.t
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2 + delta_u ** 2 + delta_t ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    step_u = node0.u + delta_u * ratio
-    step_t = node0.t + delta_t * ratio
-    
-    return Node7D(step_x, step_y, step_z, step_w, step_v, step_u, step_t)

src/bellande_step/bellande_step_8d.py

@@ -1,83 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node8D:
-    def __init__(self, x, y, z, w, v, u, t, s, parent=None):
-        self.coord = (x, y, z, w, v, u, t, s)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-    @property
-    def u(self):
-        return self.coord[5]
-
-    @property
-    def t(self):
-        return self.coord[6]
-
-    @property
-    def s(self):
-        return self.coord[7]
-
-
-def bellande_step_8d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    delta_u = node1.u - node0.u
-    delta_t = node1.t - node0.t
-    delta_s = node1.s - node0.s
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2 + delta_u ** 2 + delta_t ** 2 + delta_s ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    step_u = node0.u + delta_u * ratio
-    step_t = node0.t + delta_t * ratio
-    step_s = node0.s + delta_s * ratio
-    
-    return Node8D(step_x, step_y, step_z, step_w, step_v, step_u, step_t, step_s)

src/bellande_step/bellande_step_9d.py

@@ -1,90 +0,0 @@
-# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <https://www.gnu.org/licenses/>.
-
-#!/usr/bin/env python3
-
-from header_imports import *
-
-class Node9D:
-    def __init__(self, x, y, z, w, v, u, t, s, r, parent=None):
-        self.coord = (x, y, z, w, v, u, t, s, r)
-        self.parent = parent
-
-    @property
-    def x(self):
-        return self.coord[0]
-
-    @property
-    def y(self):
-        return self.coord[1]
-
-    @property
-    def z(self):
-        return self.coord[2]
-
-    @property
-    def w(self):
-        return self.coord[3]
-
-    @property
-    def v(self):
-        return self.coord[4]
-
-    @property
-    def u(self):
-        return self.coord[5]
-
-    @property
-    def t(self):
-        return self.coord[6]
-
-    @property
-    def s(self):
-        return self.coord[7]
-
-    @property
-    def r(self):
-        return self.coord[8]
-
-
-
-def bellande_step_9d(node0, node1, limit=75):
-    delta_x = node1.x - node0.x
-    delta_y = node1.y - node0.y
-    delta_z = node1.z - node0.z
-    delta_w = node1.w - node0.w
-    delta_v = node1.v - node0.v
-    delta_u = node1.u - node0.u
-    delta_t = node1.t - node0.t
-    delta_s = node1.s - node0.s
-    delta_r = node1.r - node0.r
-    
-    dist = np.sqrt(delta_x ** 2 + delta_y ** 2 + delta_z ** 2 + delta_w ** 2 + delta_v ** 2 + delta_u ** 2 + delta_t ** 2 + delta_s ** 2 + delta_r ** 2)
-    
-    if dist < limit:
-        return node1
-    
-    ratio = limit / dist
-    step_x = node0.x + delta_x * ratio
-    step_y = node0.y + delta_y * ratio
-    step_z = node0.z + delta_z * ratio
-    step_w = node0.w + delta_w * ratio
-    step_v = node0.v + delta_v * ratio
-    step_u = node0.u + delta_u * ratio
-    step_t = node0.t + delta_t * ratio
-    step_s = node0.s + delta_s * ratio
-    step_r = node0.r + delta_r * ratio
-    
-    return Node9D(step_x, step_y, step_z, step_w, step_v, step_u, step_t, step_s, step_r)