v1.0.2

Author: GiorgioMedico

.github/workflows/test.yml

@@ -22,8 +22,7 @@ jobs:
         pip install -e .
     - name: Testing
       run: |
-        python -m pytest --cov=ik_ur tests
-        python -m codecov
+        python -m pytest tests
 
   build-macos:
     runs-on: macos-latest

README.md

@@ -7,20 +7,41 @@
 
 ## Table of Contents
 
-- [Overview](#overview)
-- [Key Features](#key-features)
-  - [Spline Interpolation](#spline-interpolation)
-  - [Motion Profiles](#motion-profiles)
-  - [Path Generation](#path-generation)
-  - [Utility Functions](#utility-functions)
-- [Installation](#installation)
-- [Usage Examples](#usage-examples)
-- [Mathematical Concepts](#mathematical-concepts)
-- [Requirements](#requirements)
-- [Development](#development)
-- [Contributing](#contributing)
-- [License](#license)
-- [Acknowledgments](#acknowledgments)
+- [InterpolatePy](#interpolatepy)
+  - [Table of Contents](#table-of-contents)
+  - [Overview](#overview)
+  - [Key Features](#key-features)
+    - [Spline Interpolation](#spline-interpolation)
+      - [B-Splines](#b-splines)
+      - [Cubic Splines](#cubic-splines)
+        - [Imposing Acceleration Constraints at Endpoints](#imposing-acceleration-constraints-at-endpoints)
+    - [Motion Profiles](#motion-profiles)
+    - [Path Generation](#path-generation)
+    - [Utility Functions](#utility-functions)
+  - [Installation](#installation)
+    - [Using pip](#using-pip)
+    - [From Source](#from-source)
+    - [Optional Dependencies](#optional-dependencies)
+  - [Usage Examples](#usage-examples)
+    - [Cubic Spline Trajectory](#cubic-spline-trajectory)
+    - [Cubic Spline with Acceleration Constraints](#cubic-spline-with-acceleration-constraints)
+    - [Double-S Trajectory](#double-s-trajectory)
+    - [B-Spline Curve](#b-spline-curve)
+    - [Trapezoidal Trajectory with Waypoints](#trapezoidal-trajectory-with-waypoints)
+    - [3D Path with Frenet Frames](#3d-path-with-frenet-frames)
+  - [Mathematical Concepts](#mathematical-concepts)
+    - [B-splines](#b-splines-1)
+    - [Cubic Splines](#cubic-splines-1)
+    - [Smoothing Splines](#smoothing-splines)
+    - [Trapezoidal Velocity Profiles](#trapezoidal-velocity-profiles)
+    - [Double-S Trajectories](#double-s-trajectories)
+    - [Frenet Frames](#frenet-frames)
+  - [Requirements](#requirements)
+  - [Development](#development)
+    - [Running Tests](#running-tests)
+  - [Contributing](#contributing)
+  - [License](#license)
+  - [Acknowledgments](#acknowledgments)
 
 ## Overview
 
@@ -307,7 +328,6 @@ InterpolatePy uses modern Python tooling for development:
 
 - **Code Quality**: Black and isort for formatting, Ruff and mypy for linting and type checking
 - **Testing**: pytest for unit tests and benchmarks
-- **Documentation**: mkdocs for documentation generation
 
 To set up the development environment:
 
@@ -322,14 +342,6 @@ pre-commit install
 python -m pytest tests
 ```
 
-### Building Documentation
-
-```bash
-mkdocs build
-# or to serve locally
-mkdocs serve
-```
-
 ## Contributing
 
 Contributions to InterpolatePy are welcome! To contribute:

codecov.yml

@@ -2,4 +2,4 @@
 __version__ file.
 """
 
-__version__ = "1.0.1"
+__version__ = "1.0.2"

interpolatepy/version.py

@@ -19,7 +19,7 @@ classifiers = [
     "Operating System :: Unix",
     "Operating System :: MacOS",
 ]
-dependencies = ["numpy>=2.0.0", "matplotlib>=3.10.1"]
+dependencies = ["numpy>=2.0.0", "matplotlib>=3.10.1", "scipy>=1.15.2"]
 dynamic = ["version"]
 
 [project.optional-dependencies]
@@ -38,29 +38,6 @@ version = { attr = "interpolatepy.__version__" }
 minversion = "7.3"
 testpaths = "tests"
 
-[tool.coverage.run]
-branch = true
-parallel = true
-omit = ["setup.py", "interpolatepy/__init__.py", "interpolatepy/version.py"]
-
-[tool.coverage.report]
-exclude_lines = [
-    "pragma: no cover",
-    "def __repr__",
-    "if self.debug",
-    "raise AssertionError",
-    "raise NotImplementedError",
-    "if __name__ == .__main__.:",
-    "raise AssertionError",
-    "raise NotImplementedError",
-]
-
-[tool.coverage.paths]
-source = ["interpolatepy/*"]
-
-[tool.coverage.html]
-directory = "reports"
-
 ######## Tools
 [tool.black]
 target-version = ['py311']

pyproject.toml

@@ -15,7 +15,5 @@ pyright>=1.1.335
 
 # Testing
 pytest>=7.4.3
-codecov>=2.1.13
-pytest-cov>=4.1.0
 pytest-benchmark>=4.0.0
 lark>=0.0.0