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# -*- coding: utf-8 -*-
from
typing
import
Tuple
,
List
,
Sequence
,
Counter
,
ClassVar
def
quaternion_u
(
qw
:
float
,
qx
:
float
,
qy
:
float
,
qz
:
float
)
->
Tuple
[
float
,
float
,
float
]:
...
def
quaternion_v
(
qw
:
float
,
qx
:
float
,
qy
:
float
,
qz
:
float
)
->
Tuple
[
float
,
float
,
float
]:
...
def
quaternion_n
(
qw
:
float
,
qx
:
float
,
qy
:
float
,
qz
:
float
)
->
Tuple
[
float
,
float
,
float
]:
...
def
make_quaternion
(
ux
:
float
,
uy
:
float
,
uz
:
float
,
vx
:
float
,
vy
:
float
,
vz
:
float
)
->
Tuple
[
float
,
float
,
float
,
float
]:
...
class
Params
:
pass
class
Entity
:
FREE_IN_3D
:
ClassVar
[
Entity
]
=
...
NONE
:
ClassVar
[
Entity
]
=
...
params
:
Params
def
is_3d
(
self
)
->
bool
:
...
def
is_none
(
self
)
->
bool
:
...
def
is_point_2d
(
self
)
->
bool
:
...
def
is_point_3d
(
self
)
->
bool
:
...
def
is_point
(
self
)
->
bool
:
...
def
is_normal_2d
(
self
)
->
bool
:
...
def
is_normal_3d
(
self
)
->
bool
:
...
def
is_normal
(
self
)
->
bool
:
...
def
is_distance
(
self
)
->
bool
:
...
def
is_work_plane
(
self
)
->
bool
:
...
def
is_line_2d
(
self
)
->
bool
:
...
def
is_line_3d
(
self
)
->
bool
:
...
def
is_line
(
self
)
->
bool
:
...
def
is_cubic
(
self
)
->
bool
:
...
def
is_circle
(
self
)
->
bool
:
...
def
is_arc
(
self
)
->
bool
:
...
class
SolverSystem
:
def
__init__
(
self
)
->
None
:
"""Initialization method. Create a solver system."""
...
def
clear
(
self
)
->
None
:
...
def
set_group
(
self
,
g
:
int
)
->
None
:
...
def
group
(
self
)
->
int
:
...
def
set_params
(
self
,
p
:
Params
,
params
:
Sequence
[
float
])
->
None
:
...
def
params
(
self
,
p
:
Params
)
->
Tuple
[
float
, ...]:
...
def
dof
(
self
)
->
int
:
...
def
constraints
(
self
)
->
Counter
[
str
]:
...
def
failures
(
self
)
->
List
[
int
]:
...
def
solve
(
self
)
->
int
:
...
def
create_2d_base
(
self
)
->
Entity
:
...
def
add_point_2d
(
self
,
u
:
float
,
v
:
float
,
wp
:
Entity
)
->
Entity
:
...
def
add_point_3d
(
self
,
x
:
float
,
y
:
float
,
z
:
float
)
->
Entity
:
...
def
add_normal_2d
(
self
,
wp
:
Entity
)
->
Entity
:
...
def
add_normal_3d
(
self
,
qw
:
float
,
qx
:
float
,
qy
:
float
,
qz
:
float
)
->
Entity
:
...
def
add_distance
(
self
,
d
:
float
,
wp
:
Entity
)
->
Entity
:
...
def
add_line_2d
(
self
,
p1
:
Entity
,
p2
:
Entity
,
wp
:
Entity
)
->
Entity
:
...
def
add_line_3d
(
self
,
p1
:
Entity
,
p2
:
Entity
)
->
Entity
:
...
def
add_cubic
(
self
,
p1
:
Entity
,
p2
:
Entity
,
p3
:
Entity
,
p4
:
Entity
,
wp
:
Entity
)
->
Entity
:
...
def
add_arc
(
self
,
nm
:
Entity
,
ct
:
Entity
,
start
:
Entity
,
end
:
Entity
,
wp
:
Entity
)
->
Entity
:
...
def
add_circle
(
self
,
nm
:
Entity
,
ct
:
Entity
,
radius
:
Entity
,
wp
:
Entity
)
->
Entity
:
...
def
add_work_plane
(
self
,
origin
:
Entity
,
nm
:
Entity
)
->
Entity
:
...
def
add_constraint
(
self
,
c_type
:
int
,
wp
:
Entity
,
v
:
float
,
p1
:
Entity
,
p2
:
Entity
,
e1
:
Entity
,
e2
:
Entity
,
e3
:
Entity
=
Entity
.
NONE
,
e4
:
Entity
=
Entity
.
NONE
,
other
:
int
=
0
,
other2
:
int
=
0
)
->
None
:
...
def
coincident
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
distance
(
self
,
e1
:
Entity
,
e2
:
Entity
,
value
:
float
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
equal
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
equal_included_angle
(
self
,
e1
:
Entity
,
e2
:
Entity
,
e3
:
Entity
,
e4
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
equal_point_to_line
(
self
,
e1
:
Entity
,
e2
:
Entity
,
e3
:
Entity
,
e4
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
ratio
(
self
,
e1
:
Entity
,
e2
:
Entity
,
value
:
float
,
wp
:
Entity
)
->
None
:
...
def
symmetric
(
self
,
e1
:
Entity
,
e2
:
Entity
,
e3
:
Entity
=
Entity
.
NONE
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
symmetric_h
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
symmetric_v
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
midpoint
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
horizontal
(
self
,
e1
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
vertical
(
self
,
e1
:
Entity
,
wp
:
Entity
)
->
None
:
...
def
diameter
(
self
,
e1
:
Entity
,
value
:
float
,
wp
:
Entity
)
->
None
:
...
def
same_orientation
(
self
,
e1
:
Entity
,
e2
:
Entity
)
->
None
:
...
def
angle
(
self
,
e1
:
Entity
,
e2
:
Entity
,
value
:
float
,
wp
:
Entity
,
inverse
:
bool
=
False
)
->
None
:
...
def
perpendicular
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
,
inverse
:
bool
=
False
)
->
None
:
...
def
parallel
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
tangent
(
self
,
e1
:
Entity
,
e2
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
def
distance_proj
(
self
,
e1
:
Entity
,
e2
:
Entity
,
value
:
float
)
->
None
:
...
def
dragged
(
self
,
e1
:
Entity
,
wp
:
Entity
=
Entity
.
FREE_IN_3D
)
->
None
:
...
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