Recent Releases of rational-linkages
rational-linkages - rational linkages 2.1.0
2.1.0 (2025-08-13)
added (6 changes)
- docstring update
- ik evaluation is lambified
- ik method can return t param
- optimization for a curved link
- print design params with high precision
- plotting of GL curves
fixed (1 change)
- Python
Published by hucik14 7 months ago
rational-linkages - rational linkages 2.0.0
Changelog
2.0.0 (2025-06-11)
added (48 changes)
- for plotting, the mechanisms base can be altered
- motion designer added to docs
- gif added to readme and index
- dk, ik, and motion plannings docs
- create PNG animation of rotation
- new simple rational curve example
- tutorial for physical construction of mechanism
- generation of interpolated 6r
- MotionDesigner point values can be edited by textbox
- MotionDesigner point values can be edited by textbox
- MotionDesigner now shows values of control points
- error handling of mechanism creation
- approximation for points draft (not working); force study quadric optimization
- Quaternons and DualQuaternions elements can be set directly
- Plotter.py returns a class instance based on given parameters
- class for Gauss-Legendre curves
- reset of LineSegment counter at update
- LineSegment class has registry, segments are created in circular order of two factorizations
- LineSegment new arg: default (at inf) line coeffs
- new method for obtaining a relative motion between two links-joints
- MotionsDesigner synthesizes and plots mechanism right away
- k-dq x3 calculation in Rust
- rust backend - library import and test methods
- cubic interpolation for both families
- swap in visualization of both families solutions
- heavy calculations separate lib
- new logo
- save PNG figure
- pyqtgraph white background option
- new dependencies
- new utility to extract coefficients from sympy expression
- Cubic interpolation accepts lambda parameter
- Motion Designer for Cubic curve - experimental
- normalized plane default plot
- interactive plotting with Pyqtgraph
- construction of TransfMatrix from single rotation
- motion designer for quadratic curve from poses
- numerical interpolation of quadratic curve
- MotionDesigner for quadratic curves via 5 points
- adding motion designer, not yet working
- interpolation of Bezier curves numerically
- Vispy plotter backend
- PointHomogeneous can be multiplied or divided by scalar
- obtain point orbits using Welzl's algroithm
- CollisionAnalyser.py takes over calculation for segments orbits
- BezierSegmentControlPoints class avoids init of sympy objects for splitting
- RationalCurve has the "metric" attribute
- added metric attribute RationalMechanism.py
removed (2 changes)
changed (8 changes)
- plotting docs updated for Qt6 backend
- PyQt6 update for Matplotlib backend, saving PyQtgraph with text overlay
- update of models for latest RL version
- get_design returns correct points which do not take into account Onshape's design params
- init.py cleanup
- new class for Plotting, handling PyQtGraph as default, Matplotlib as secondary backend that is not required
- changes in dependencies, exudyn option
- new default poses for quadratic MD, added test
fixed (10 changes)
- get_design returns correct points; newly input is in meters by default
- labeling erased previous render, Gl not processed well
- debug in case of difficult interpolation - perfomed numerically
- Bennett DH docs fix
- debug example
- vector check not strict enough
- debug - poses append; solve for t optimized
- macos fix for segmentation - too small init windows
- DH params were returning wrong d for base
- debug when normal z-coord was 0, cleanup
- Python
Published by hucik14 9 months ago
rational-linkages - rational linkages 1.10.2
1.10.2 (2025-04-11)
added (1 change)
fixed (2 changes)
- Python
Published by hucik14 11 months ago
rational-linkages - rational linkages 1.10.1
Changelog
1.10.1 (2025-03-03)
added (1 change)
fixed (1 change)
- Python
Published by hucik14 12 months ago