Merge branch 'master' into feat/use_new_colored_api

Author: petercorke

.github/CODEOWNERS

@@ -1,2 +1,2 @@
 # Global Owners
-* @petercorke @jbarry-bdai
+* @petercorke @jbarry-bdai @taughz

.github/workflows/master.yml

@@ -2,7 +2,7 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 
-name: build
+name: CI
 
 on:
   push:

.github/workflows/sphinx.yml

@@ -29,7 +29,7 @@ jobs:
         cd ../
     - name: Commit documentation changes
       run: |
-        git clone https://github.com/petercorke/spatialmath-python.git --branch gh-pages --single-branch gh-pages
+        git clone https://github.com/${{ github.repository }}.git --branch gh-pages --single-branch gh-pages
         cp -r docs/build/html/* gh-pages/
         cd gh-pages
         git config --local user.email "action@github.com"

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "spatialmath-python"
-version = "1.1.16"
+version = "1.1.17"
 authors = [
   { name="Peter Corke", email="rvc@petercorke.com" },
 ]

spatialmath/base/graphics.py

@@ -1512,10 +1512,11 @@ def _axes_dimensions(ax: plt.Axes) -> int:
         else:
             # handle the case of Animate objects pretending to be Axes
             classname = ax.__class__.__name__
-            if classname == "Animate":
-                ret = 3
-            elif classname == "Animate2":
-                ret = 2
+            base_classes = ax.__class__.__bases__
+            if classname in ("Axes3DSubplot", "Animate") or any(base_class.__name__ in ("Axes3DSubplot", "Animate") for base_class in base_classes):
+                return 3
+            elif classname in ("AxesSubplot", "Animate2"):
+                return 2
         # print("_axes_dimensions ", ax, ret)
         return ret
 

spatialmath/twist.py

@@ -944,7 +944,7 @@ def pitch(self):
             >>> S.pitch
 
         """
-        return np.dot(self.w, self.v)
+        return np.dot(self.w, self.v) / np.dot(self.w, self.w)
 
     def line(self):
         """

tests/base/test_transforms3d_plot.py

@@ -74,9 +74,12 @@ def test_plot(self):
         plt.close("all")
 
     @pytest.mark.skipif(
-        os.environ.get("CI") == "true"
+        plt.get_backend().lower() == "agg"
+        or os.environ.get("CI") == "true"
         or (sys.platform.startswith("darwin") and sys.version_info < (3, 11)),
-        reason="no display in CI / tkinter bug on mac",
+        reason="animation wait=True busy-loop never terminates under the "
+        "non-interactive Agg backend (no event loop to deregister the "
+        "timer callback); needs a real display",
     )
     def test_animate(self):
         tranimate(transl(1, 2, 3), repeat=False, wait=True)

tests/conftest.py

@@ -0,0 +1,14 @@
+import os
+
+# Force a non-interactive Matplotlib backend for the whole test session,
+# before any test module or package code gets a chance to import
+# matplotlib.pyplot. Several modules (geom2d, geom3d, spline, animate)
+# import pyplot at module load time, so this has to happen here, in
+# conftest.py, which pytest guarantees to load before collecting tests.
+#
+# CI already sets MPLBACKEND=Agg via the workflow env, so this mainly
+# fixes local runs, which otherwise use the platform's interactive
+# backend and pop up real windows / can hang on plt.pause(). setdefault
+# (not a hard override) leaves an escape hatch: run with
+# MPLBACKEND=MacOSX pytest ... to actually see a plot when you want to.
+os.environ.setdefault("MPLBACKEND", "Agg")

tests/test_spline.py

@@ -28,7 +28,11 @@ def test_evaluation(self):
         nt.assert_almost_equal(spline(0).A, self.control_poses[0].A)
         nt.assert_almost_equal(spline(1).A, self.control_poses[-1].A)
 
-    @pytest.mark.skipif(os.environ.get("CI") == "true", reason="no display in CI")
+    @pytest.mark.skipif(
+        plt.get_backend().lower() == "agg" or os.environ.get("CI") == "true",
+        reason="animate=True busy-waits on a timer callback that never "
+        "fires under the non-interactive Agg backend",
+    )
     def test_visualize(self):
         spline = BSplineSE3(self.control_poses)
         spline.visualize(
@@ -69,7 +73,11 @@ def test_small_delta_t(self):
             np.linspace(0, InterpSplineSE3._e, len(self.waypoints)), self.waypoints
         )
 
-    @pytest.mark.skipif(os.environ.get("CI") == "true", reason="no display in CI")
+    @pytest.mark.skipif(
+        plt.get_backend().lower() == "agg" or os.environ.get("CI") == "true",
+        reason="animate=True busy-waits on a timer callback that never "
+        "fires under the non-interactive Agg backend",
+    )
     def test_visualize(self):
         spline = InterpSplineSE3(self.times, self.waypoints)
         spline.visualize(
@@ -110,7 +118,9 @@ def test_spline_fit(self):
 
         assert fit.max_angular_error() < np.deg2rad(5.0)
         assert fit.max_angular_error() < 0.1
-        if os.environ.get("CI") != "true":
+        # animate=True busy-waits on a timer callback that never fires
+        # under the non-interactive Agg backend
+        if plt.get_backend().lower() != "agg" and os.environ.get("CI") != "true":
             spline.visualize(
                 sample_times=np.linspace(0, self.time_horizon, 100),
                 animate=True,

tests/test_twist.py

@@ -179,6 +179,17 @@ def test_exp(self):
         tw = Twist3.UnitRevolute([0, 0, 1], [0, 0, 0])
         array_compare(tw.exp(pi / 2), SE3.Rz(pi / 2))
 
+    def test_pitch(self):
+        # pitch = (w . v) / (w . w), regression test for missing denominator
+
+        # non-unit w: exercises the normalization, would fail without it
+        tw = Twist3([0, 0, 4], [0, 0, 2])
+        self.assertAlmostEqual(tw.pitch, 2.0)
+
+        # unit w: denominator is 1, sanity check against UnitRevolute's pitch arg
+        tw = Twist3.UnitRevolute([0, 0, 1], [0, 0, 0], pitch=3)
+        self.assertAlmostEqual(tw.pitch, 3.0)
+
     def test_arith(self):
         # check overloaded *