Add Pose, Position and Orientation models to alitra and refactor

.github/workflows/pythonpackage.yml

@@ -1,32 +1,36 @@
-name: Python package
-
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
 
 jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
-      max-parallel: 4
       matrix:
-        python-version: [3.8]
+        python-version: ["3.8"]
 
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v2
+
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v1
+        uses: actions/setup-python@v2
         with:
           python-version: ${{ matrix.python-version }}
+
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install .
+          pip install -e .[dev]
+
       - name: Lint
         run: |
-          pip install black mypy
           black --check .
-          mypy src/alitra
-          mypy tests
+          mypy .
+
       - name: Test with pytest
         run: |
-          pip install pytest
           pytest

.github/workflows/pythonpublish.yml

@@ -8,9 +8,9 @@ jobs:
   deploy:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v2
       - name: Set up Python
-        uses: actions/setup-python@v1
+        uses: actions/setup-python@v2
         with:
           python-version: "3.x"
       - name: Install dependencies

README.md

@@ -22,13 +22,14 @@ help(alitra)
 ### Installation from source
 
 ```
-pip install .
+git clone https://github.com/equinor/alitra
+cd alitra
+pip install .[dev]
 ```
 
 You can test whether installation was successfull with pytest
 
 ```
-pip install pytest
 pytest .
 ```
 
@@ -40,15 +41,7 @@ pip install -e /path/to/package
 
 This will install package in _editable_ mode. Convenient for local development
 
-## Components
+### How to use
 
-### Frame transform
-
-Class for transforming coordinates between two coordinates frames. Use custom
-dataclasses for conveniency, and to ensure that no mistakes are made in the transform.
-
-### Align frames
-
-Finds the rotations and translations between two coordinate systems by minimizing the
-matching error given a set of points described in both coordinate frames.
-Run `python examples/example_manual_alignment.py` for a demonstration of its use.
+The tests in this repository can be used as examples
+of how to use the different models and functions

setup.py

@@ -25,10 +25,5 @@
     include_package_data=True,
     install_requires=["scipy", "numpy", "dacite"],
     python_requires=">=3.8",
-    extras_require={
-        "dev": [
-            "pytest",
-            "black",
-        ]
-    },
+    extras_require={"dev": ["pytest", "black", "mypy"]},
 )

src/alitra/__init__.py

@@ -3,47 +3,44 @@
 easier by using custom dataclasses
 
 Imagine we have an "asset" with one coordinate-frame and a "robot" with its own
-internal coordinate-frame. We want to transform a point on the robot to a point in the
+internal coordinate-frame. We want to transform a position on the robot to a position in the
 asset coordinate-frame.
 
 >>> import numpy as np
->>> from alitra.align_frames import AlignFrames
->>> from alitra.frame_dataclasses import Euler, Quaternion, PointList, Translation
->>> from alitra.frame_transform import FrameTransform
+>>> from alitra import align_frames
+>>> from alitra.models import Euler, Quaternion, PositionList, Transform, Translation
 
-Setting up rotations, translations and points for transformation
+Setting up rotations, translations and positions for transformation
 
->>> eul_rot = Euler(psi=np.pi / 4, from_="robot", to_="asset").as_np_array()
->>> ref_translations = Translation(x=1, y=0, from_="robot", to_="asset")
->>> p_robot = PointList.from_array(np.array([[1, 1, 0], [10, 1, 0]]), frame="robot")
+>>> robot_frame = Frame("robot")
+>>> asset_frame = Frame("asset")
+>>> euler = Euler(psi=np.pi / 4, from_=robot_frame, to_=asset_frame).to_array()
+>>> translation = Translation(x=1, y=0, from_=robot_frame, to_=asset_frame)
+>>> p_robot = PositionList.from_array(np.array([[1, 1, 0], [10, 1, 0]]), frame=robot_frame)
 >>> rotation_axes = "z"
 
 Making the transform
 
->>> c_frame_transform = FrameTransform(
-...    eul_rot, ref_translations, from_=eul_rot.from_, to_=eul_rot.to_
+>>> transform = Transform.from_euler(
+...    translation=translation, euler=euler, from_=robot_frame, to_=asset_frame
 ... )
 
-Tranform point on robot to a point on the asset
+Tranform position on robot to a position on the asset
 
->>> p_asset = c_frame_transform.transform_point(p_robot, from_="robot", to_="asset")
+>>> p_asset = transform_position(transform, p_robot, from_=robot_frame, to_=asset_frame)
 
-If you have one point in two different frames and the rotation between the axes you can find the transform
+If you have one position in two different frames and the rotation between the axes you can find the transform
 between the two frames.
 
->>> transform = AlignFrames.align_frames(p_robot, p_asset, rotation_axes)
+>>> transform = Transform(p_robot, p_asset, rotation_axes)
 
 """
 
-from alitra.align_frames import AlignFrames
-from alitra.frame_dataclasses import (
-    Euler,
-    Point,
-    PointList,
-    Quaternion,
-    Transform,
-    Translation,
+from alitra.alignment import align_maps, align_positions
+from alitra.transformations import (
+    transform_euler,
+    transform_orientation,
+    transform_pose,
+    transform_position,
+    transform_quaternion,
 )
-from alitra.frame_transform import FrameTransform
-from alitra.models.bounds import Bounds
-from alitra.models.map_config import MapConfig, load_map_config