Merge pull request #82 from C4dynamics/dev

revisit doc as issued by crhea93 reviewer from pyopensci

Author: c4dynamics

README.md

@@ -10,7 +10,8 @@
 
 
 
-Tsipor (bird) Dynamics (c4dynamics) is the open-source framework of algorithms development for objects in space and time.
+Tsipor (bird) Dynamics (c4dynamics) is the Python framework for state-space modeling and algorithm development.
+
 
 
 

c4dynamics/detectors/__init__.py

@@ -3,6 +3,13 @@
 `c4dynamics` provides an API to third party object detection models.
 
 
+.. list-table:: 
+  :header-rows: 0
+
+  * - :class:`YOLOv3 <c4dynamics.detectors.yolo3_opencv.yolov3>`
+    - Realtime object detection model based on YOLO (You Only Look Once) approach with 80 pre-trained COCO classes
+
+   
 '''
 
 import os, sys 

c4dynamics/eqm/__init__.py

@@ -1,291 +1,3 @@
-'''
-
-Background Material [MI]_
--------------------------
-
-Introduction
-^^^^^^^^^^^^
-
-Motion models for points (particles) and rigid bodies in space and time are based on mathematical
-equations. 
-
-Three degrees of freedom models employ translational
-equations of motion.
-Six degrees of freedom models 
-incorporate both translational 
-and rotational equations of motion. 
-
-The inputs to the equations of motion are the 
-forces and moments acting on the body; 
-yielding body accelerations as outputs.
-
-
-Nomenclature and Convention
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Typically, the forces and moments on a body are
-resolved into components in the body coordinate system. 
-Fig-1 shows the components of
-force, moment velocity, and angular rate of a body
-resolved in the body coordinate system. 
-The six projections
-of the linear and angular velocity vectors on the moving
-body frame axes are the six degrees of freedom. 
-The nomenclature and conventions for positive directions
-are as shown in Fig-1 and in the following Table:
-
-
-.. figure:: /_architecture/rigidbody.svg
-   
-   Fig-1: Forces, velocities, moments, and angular rates in body reference frame 
-
-
-
-.. list-table::
-   :widths: 10 20 20 20 20 20 20 
-   :header-rows: 1
-
-   * - Axis
-     - Force along axis
-     - Moment about axis
-     - Linear velocity
-     - Angular displacement 
-     - Angular velocity 
-     - Moment of Inertia
-   * - :math:`x_b`
-     - :math:`{F_x}_b`
-     - :math:`L`
-     - :math:`u`
-     - :math:`\\varphi`
-     - :math:`p`
-     - :math:`I_{xx}`
-   * - :math:`y_b`
-     - :math:`{F_y}_b`
-     - :math:`M`
-     - :math:`v`
-     - :math:`\\theta`
-     - :math:`q`
-     - :math:`I_{yy}`
-   * - :math:`z_b`
-     - :math:`{F_z}_b`
-     - :math:`N`
-     - :math:`w`
-     - :math:`\\psi`
-     - :math:`r`
-     - :math:`I_{zz}`
-
-
-The position of the mass center of the body is given by
-its Cartesian coordinates expressed in an inertial frame of
-reference, such as the fixed-earth frame :math:`(x, y, z)`. 
-
-The body's angular orientation is defined by three rotations :math:`(\\psi, \\theta, \\varphi)` 
-relative to the inertial frame of reference. 
-These are
-called Euler rotations, and the order of the successive rotations
-is important. 
-Starting with the body coordinate frame
-aligned with the earth coordinate frame, the adopted order here is 3-2-1, i.e.: 
-
-(1) Rotate the body frame about the :math:`z_b` axis through the heading angle :math:`\\psi`, 
-(2) Rotate about the :math:`y_b` axis through the pitch angle :math:`\\theta`, and 
-(3) Rotate about the :math:`x_b` axis through the roll angle :math:`\\varphi`
-
-The total inertial velocity :math:`V` has components :math:`u, v`, and :math:`w` on the body frame axes, 
-and :math:`(v_x, v_y, v_z)` on the earth-frame axes.
-
-
-Newton's Second Law 
-^^^^^^^^^^^^^^^^^^^
-
-Newton's second law of motion establishes the foundational 
-equation governing the relationship among 
-force, mass, and acceleration.
- 
-
-in the context of Newton's second law, the force :math:`(F)` 
-acting on an object is the derivative of its momentum :math:`(m \\cdot v)` 
-with respect to time :math:`(t)`:
-
-.. math:: 
-   F = {d(m \\cdot v) \\over dt}
-
-Where:
-
-- :math:`F` is the total force acting on the object
-- :math:`m` is the mass of the object
-- :math:`v` is the velocity 
-- :math:`t` is time 
-
-This equation yields the final form of the equations of linear motion.
-In the final form, acceleration is represented by the rate of change of the velocity:
-
-.. math::
-   F = m \\cdot \\dot{v}
-
-Where:
-
-- :math:`F` is the total force acting on the object
-- :math:`m` is the mass of the object
-- :math:`\\dot{v}` is the acceleration of the object
-
-
-A direct extension of Newton's second law to rotational motion 
-reveals that the moment of force (torque) on a body 
-about a given axis equals the time rate of change of the 
-angular momentum of the paricle about that axis. 
-
-
-.. math::
-   M = {dh \\over dt} 
-
-Where:
-
-- :math:`M` is the total moment (torque) acting on the object
-- :math:`h` is the angular momentum vector of the object
-
-
-
-Hence, the final form of the equations of angular motion is given by: 
-
-.. math::
-   M = [I] \\cdot \\dot{\\omega}
-
-Where:
-
-- :math:`M` is the total moment (torque) acting on the object
-
-- :math:`[I]` is the inertia matrix of the body relative to the axis of rotation
-
-- :math:`\\dot{\\omega}` is the absolute angular acceleration vector of the body
-
-
-
-   
-Translational Equations of Motion
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The basis of the translational equation of motion was introduced 
-above. 
-The usual procedure used to solve this
-equation is to sum the external forces
-:math:`F` acting on the body, express them in an 
-inertial frame, and substitute :math:`F` into 
-the equation.
-Once the acceleration, namely the forces 
-divided by the mass, is expressed in inertial coordinates, 
-it is integrated twice to yield the
-translational displacement. 
-
-
-.. math::
-   dx = v_x
-
-   dy = v_y
-
-   dz = v_z
-
-   dv_x = {F[0] \\over m}
-
-   dv_y = {F[1] \\over m}
-
-   dv_z = {F[2] \\over m}
-
-Where:
-
-- :math:`dx, dy, dz` are the changes in position in the :math:`x, y, z` inertial directions, respectively  
-- :math:`dv_x, dv_y, dv_z` are the changes in velocity in the :math:`x, y, z` inertial directions, respectively 
-- :math:`v_x, v_y, v_z` are the velocities in the :math:`x, y, z` inertial directions, respectively
-- :math:`f[0], f[1], f[2]` are the input force components in the :math:`x, y, z` inertial directions, respectively
-- :math:`m` is the mass of the body.
-
-
-These equations describe the dynamics of a datapoint in three-dimensional space (**3DOF**). 
-Which is 
-the rate of change of position 
-:math:`(x, y, z)` with respect to time equals to the velocity, 
-and the rate of change of velocity 
-:math:`(v_x, v_y, v_z)` with respect to time
-equals to the force divided by the mass :math:`(m)`.
-
-
-
-
-Rotational Equations of Motion
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-As mentioned earlier, the rotational analog
-of Newton's law describes the relationship between torque, 
-moment of inertia, and angular acceleration. 
-We also saw that a double integration on the translational 
-acceleration produces the change of the body in position.
-
-However, the angular accelerations
-are typically expressed with respect to a body frame and 
-must be adjusted in order to produce the attitude of the
-body. 
-For that purpose we introduced the euler angles (see Nomenclature and Conventions)
-which describe the 
-body attitude with respect to an inertial frame of reference.
-
-The orientation of the body reference frame is specified by the three
-Euler angles, :math:`\\psi, \\theta, \\varphi`. 
-
-As a rigid body changes its orientation
-in space, the Euler angles change. 
-The rates of change
-of the Euler angles are related to the angular rates :math:`(p, q, r)` of the
-body frame.
-
-The rate of change of the Euler angles together with the rotational analog 
-of Newton's law provide the set of differential equations 
-that 
-describe the equations governing the motion of a rigid body: 
-
-
-.. math::
-
-   d\\varphi = p + (q \\cdot sin(\\varphi) + r \\cdot cos(\\varphi)) \\cdot tan(\\theta)
-
-   d\\theta = q \\cdot cos(\\varphi) - r \\cdot sin(\\varphi)
-   
-   d\\psi = {q \\cdot sin(\\varphi) + r \\cdot cos(\\phi) \\over cos(\\theta)}
-
-   dp = {M[0] - q \\cdot r \\cdot (I_{zz} - I_{yy}) \\over I_{xx}}
-
-   dq = {M[1] - p \\cdot r \\cdot (I_{xx} - I_{zz}) \\over I_{yy}}
-
-   dr = {M[2] - p \\cdot q \\cdot (I_{yy} - I_{xx}) \\over I_{zz}}
-
-Where: 
-
-- :math:`d\\varphi, d\\theta, d\\psi` are the changes in Euler roll, Euler pitch, and Euler yaw angles, respectively 
-- :math:`dp, dq, dr` are the changes in body roll rate, pitch rate, and yaw rate, respectively
-- :math:`\\varphi, \\theta, \\psi` are the Euler roll, Euler pitch, and uler yaw angles, respectively 
-- :math:`p, q, r` are the body roll rate, pitch rate, and yaw rate, respcetively
-- :math:`M[0], M[1], M[2]` are the input moment of force components about the :math:`x, y, z` in the body direction, respectively
-- :math:`I_{xx}, I_{yy}, I_{zz}` are the moments of inertia about the :math:`x, y,` and :math:`z` in body direction, respectively
-
-
-These equations describe the angular dynamics of a rigid body. 
-Together with the equations that describe the translational 
-motion of the body they form the six-dimensional motion in space (**6DOF**). 
-
-
-References
-----------
-
-.. [MI] 17 July 1995, "Missile Flight Simulation, Part One, Surface-to-Air Missiles", 
-         Ch 4 In: Military Handbook. 1995, MIL-HDBK-1211(MI)
-
-
-         
-Examples
---------
-
-For examples, see the various functions.
-
-'''
 import sys, os 
 sys.path.append('.')