spatialmath-python/spatialmath/__init__.py at 8cc56b8e512984bb08c6dec6fc4db54faef2929f · bdaiinstitute/spatialmath-python · GitHub

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# print("in spatialmath/__init__")

from spatialmath.pose2d import SO2, SE2
from spatialmath.pose3d import SO3, SE3
from spatialmath.baseposematrix import BasePoseMatrix
from spatialmath.geom2d import Line2, LineSegment2, Polygon2, Ellipse
from spatialmath.geom3d import Line3, Plane3
from spatialmath.twist import Twist3, Twist2
from spatialmath.spatialvector import (
    SpatialVelocity,
    SpatialAcceleration,
    SpatialForce,
    SpatialMomentum,
    SpatialInertia,
)
from spatialmath.quaternion import Quaternion, UnitQuaternion
from spatialmath.DualQuaternion import DualQuaternion, UnitDualQuaternion
from spatialmath.spline import CubicBSplineSE3, FitCubicBSplineSE3

# from spatialmath.Plucker import *
# from spatialmath import base as smb

__all__ = [
    # pose
    "SO2",
    "SE2",
    "SO3",
    "SE3",
    "BasePoseMatrix",
    "Quaternion",
    "UnitQuaternion",
    "DualQuaternion",
    "UnitDualQuaternion",
    "Twist3",
    "Twist2",
    "SpatialVelocity",
    "SpatialAcceleration",
    "SpatialForce",
    "SpatialMomentum",
    "SpatialInertia",
    "Line3",
    "Plane3",
    "Line2",
    "LineSegment2",
    "Polygon2",
    "Ellipse",
    "CubicBSplineSE3",
    "FitCubicBSplineSE3"
]

try:
    import importlib.metadata

    __version__ = importlib.metadata.version("spatialmath-python")
except:
    pass