mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
David Lechner
e95386e23e
This fixes numerous issues where jedi provided incomplete or poorly formatted signatures and docstrings. Issue: https://github.com/pybricks/pybricks-code/issues/932
133 lines
3.1 KiB
Python
133 lines
3.1 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2018-2022 The Pybricks Authors
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"""Core linear algebra functionality for orientation sensors and robotics."""
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from __future__ import annotations
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from typing import Sequence, Tuple, overload
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class Matrix:
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"""Mathematical representation of a matrix. It supports
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addition (``A + B``), subtraction (``A - B``),
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and matrix multiplication (``A * B``) for matrices of compatible size.
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It also supports scalar multiplication (``c * A`` or ``A * c``)
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and scalar division (``A / c``).
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A :class:`.Matrix` object is immutable."""
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def __add__(self, other) -> Matrix:
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...
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def __iadd__(self, other) -> Matrix:
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...
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def __sub__(self, other) -> Matrix:
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...
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def __isub__(self, other) -> Matrix:
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...
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def __mul__(self, other) -> Matrix:
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...
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def __rmul__(self, other) -> Matrix:
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...
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def __imul__(self, other) -> Matrix:
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...
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def __truediv__(self, other) -> Matrix:
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...
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def __itruediv__(self, other) -> Matrix:
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...
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def __floordiv__(self, other) -> Matrix:
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...
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def __ifloordiv__(self, other) -> Matrix:
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...
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def __init__(self, rows: Sequence[Sequence[float]]):
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"""Matrix(rows)
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Arguments:
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rows (list): List of rows. Each row is itself a list of numbers.
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"""
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@property
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def T(self) -> Matrix:
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"""Returns a new :class:`.Matrix` that is the transpose of the
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original."""
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@property
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def shape(self) -> Tuple[int, int]:
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"""Returns a tuple (``m``, ``n``),
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where ``m`` is the number of rows and ``n`` is the number of columns.
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"""
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@overload
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def vector(x: float, y: float) -> Matrix:
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"""
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Convenience function to create a :class:`.Matrix` with the shape (``2``, ``1``).
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Arguments:
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x (float): x-coordinate of the vector.
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y (float): y-coordinate of the vector.
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Returns:
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A matrix with the shape of a column vector.
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"""
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@overload
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def vector(x: float, y: float, z: float) -> Matrix:
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"""
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Convenience function to create a :class:`.Matrix` with the shape (``3``, ``1``).
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Arguments:
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x (float): x-coordinate of the vector.
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y (float): y-coordinate of the vector.
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z (float): z-coordinate of the vector.
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Returns:
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A matrix with the shape of a column vector.
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"""
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def vector(*args):
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"""
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vector(x, y) -> Matrix
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vector(x, y, z) -> Matrix
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Convenience function to create a :class:`.Matrix` with the
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shape (``2``, ``1``) or (``3``, ``1``).
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Arguments:
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x (float): x-coordinate of the vector.
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y (float): y-coordinate of the vector.
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z (float): z-coordinate of the vector (optional).
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Returns:
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A matrix with the shape of a column vector.
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"""
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class Axis:
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"""Unit axes of a coordinate system.
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.. data:: X = vector(1, 0, 0)
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.. data:: Y = vector(0, 1, 0)
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.. data:: Z = vector(0, 0, 1)
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"""
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X: Matrix = vector(1, 0, 0)
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Y: Matrix = vector(0, 1, 0)
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Z: Matrix = vector(0, 0, 1)
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