948 add support to create coordinate systems from homogeneous transformation matrices

[mbwinkler]

Changes

Added support for homogeneous transformation matrices.

Related Issues

Closes #948

Checks

• updated CHANGELOG.md
• updated tests/
• updated doc/
• update example/tutorial notebooks
• update manifest file

[github-actions]

Test Results

2 188 tests  ±0   2 187 ✅ ±0   2m 5s ⏱️ +2s
    1 suites ±0       1 💤 ±0 
    1 files   ±0       0 ❌ ±0 

Results for commit f600bcd. ± Comparison against base commit 8a34f2d.

♻️ This comment has been updated with latest results.

[mbwinkler]

Will update tests/ and doc/ and write an example for the notebook sometime this week.

[CagtayFabry]

It looks good to me but is still missing tests obviously.
The test suit should be back up running after I merge #896 tomorrow

[CagtayFabry]

the pytest actions are running again @mbwinkler , you can add some testcases 👍

[CagtayFabry]

Don't bother with mypy for now @mbwinkler , it can be quite a hassle

[mbwinkler]

@CagtayFabry
Wouldn't be a hassle if npt.ArrayLike would actually mean "like an array" and not "can be constructed into an array"...

https://stackoverflow.com/a/76271691

I could change the type to just use np.array and then it would work. Right now mypy just tells me that the 3D indexing (obviously) would not work if I passed e.g. a simple str.

[CagtayFabry]

@CagtayFabry Wouldn't be a hassle if npt.ArrayLike would actually mean "like an array" and not "can be constructed into an array"...

https://stackoverflow.com/a/76271691

I could change the type to just use np.array and then it would work. Right now mypy just tells me that the 3D indexing (obviously) would not work if I passed e.g. a simple str.

I think np.array should be sufficient here in that case

very good find on the SO post 👍

[mbwinkler]

Apparently this expression raises a mypy error, because using self.coordinates could return a TimeSeries, which in turn would return pint.Quantity | MathematicalExpression when .data is accessed and the latter one does not support unit transformations. Not sure how to fix this.

[CagtayFabry]

I think we can leave out supporting TimeSeries for now (throwing an error).

We could add

if isinstance(self.coordinates, TimeSeries):
    raise NotImplementedError("Cannot convert LCS with `TimeSeries` coordinates to homogeneous matrix")

at the beginning

[CagtayFabry]

thanks for adding the test cases!

I think this can be set as "ready for review"? :)

[CagtayFabry]

I think we can leave out supporting TimeSeries for now (throwing an error).

We could add

if isinstance(self.coordinates, TimeSeries):
    raise NotImplementedError("Cannot convert LCS with `TimeSeries` coordinates to homogeneous matrix")

at the beginning

[CagtayFabry]

pytest windows failures unrelated