Fix stubs and a few wrong py::args.

.github/workflows/python_package.yml

@@ -59,11 +59,7 @@ jobs:
       run: |
         pip install pybind11-stubgen
         pip install .
-        mkdir -p stubs_temp
-        pybind11-stubgen dqrobotics --output-dir stubs_temp
         python regenerate_stubs.py
-        cp -r stubs_temp/dqrobotics/dqrobotics/ dqrobotics-stubs
-        rm -r stubs_temp 
         pip uninstall dqrobotics -y
     - name: Compile
       run: |

.gitignore

@@ -0,0 +1 @@
+dqrobotics/_dqrobotics/

dqrobotics/__init__.py

@@ -23,5 +23,5 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics import *
+from ._dqrobotics import *
 

dqrobotics/interfaces/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._interfaces import *
+from .._dqrobotics._interfaces import *

dqrobotics/interfaces/json11/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._interfaces._json11 import *
+from ..._dqrobotics._interfaces._json11 import *

dqrobotics/robot_control/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._robot_control import *
+from .._dqrobotics._robot_control import *

dqrobotics/robot_modeling/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._robot_modeling import *
+from .._dqrobotics._robot_modeling import *

dqrobotics/robots/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._robots import *
+from .._dqrobotics._robots import *

dqrobotics/solvers/__init__.py

@@ -23,14 +23,14 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._solvers import *
+from .._dqrobotics._solvers import *
 
 try:
-    from dqrobotics.solvers._dq_quadprog_solver import DQ_QuadprogSolver
+    from dqrobotics.solvers._dq_quadprog_solver import DQ_QuadprogSolver as DQ_QuadprogSolver
 except:
     pass
 
 try:
-    from dqrobotics.solvers._dq_cplex_solver import DQ_CPLEXSolver
+    from dqrobotics.solvers._dq_cplex_solver import DQ_CPLEXSolver as DQ_CPLEXSolver
 except:
     pass

dqrobotics/solvers/_dq_cplex_solver.py

@@ -23,21 +23,30 @@
 #
 # ################################################################
 """
+from __future__ import annotations
 from dqrobotics._dqrobotics._solvers import DQ_QuadraticProgrammingSolver
 import numpy as np
+from numpy.typing import NDArray
 import cplex
 
 # https://github.com/dqrobotics/python/issues/24
 class DQ_CPLEXSolver(DQ_QuadraticProgrammingSolver):
-    def __init__(self):
+    def __init__(self) -> None:
         DQ_QuadraticProgrammingSolver.__init__(self)
         # Make and set a solver instance
-        self.P = cplex.Cplex()
+        self.P: cplex.Cplex = cplex.Cplex()
         self.P.objective.set_sense(self.P.objective.sense.minimize)
         self.P.set_problem_type(self.P.problem_type.QP)
         self.P.set_results_stream(results_file=None)
 
-    def solve_quadratic_program(self, H, f, A, b, Aeq, beq):
+    # Narrower than the base class's ArrayLike: this implementation requires numpy arrays.
+    def solve_quadratic_program(self,  # type: ignore[override]
+                                H: NDArray[np.float64],
+                                f: NDArray[np.float64],
+                                A: NDArray[np.float64],
+                                b: NDArray[np.float64],
+                                Aeq: NDArray[np.float64],
+                                beq: NDArray[np.float64]) -> NDArray[np.float64]:
         problem_size = H.shape[0]
         inequality_constraint_size = b.shape[0]
         equality_constraint_size = beq.shape[0]

dqrobotics/solvers/_dq_quadprog_solver.py

@@ -23,31 +23,41 @@
 #
 # ################################################################
 """
+from __future__ import annotations
+from typing import Optional
 from dqrobotics._dqrobotics._solvers import DQ_QuadraticProgrammingSolver
 import numpy as np
+from numpy.typing import NDArray
 import quadprog
 
 class DQ_QuadprogSolver(DQ_QuadraticProgrammingSolver):
-    def __init__(self):
+    def __init__(self) -> None:
         DQ_QuadraticProgrammingSolver.__init__(self)
-        self.equality_constraints_tolerance = 0  # default of np.finfo(np.float64).eps is already included in the solver
+        self.equality_constraints_tolerance: float = 0  # default of np.finfo(np.float64).eps is already included in the solver
         pass
 
-    def set_equality_constraints_tolerance(self, tolerance):
+    def set_equality_constraints_tolerance(self, tolerance: float) -> None:
         """
         Set allowed tolerance for the equality constraints
         :param tolerance: Tolerance allowed for equality constraints
         """
         self.equality_constraints_tolerance = tolerance
 
-    def get_equality_constraints_tolerance(self):
+    def get_equality_constraints_tolerance(self) -> float:
         """
         Get allowed tolerance for the equality constraints
         :return: Current tolerance
         """
         return self.equality_constraints_tolerance
 
-    def solve_quadratic_program(self, H, f, A, b, Aeq, beq):
+    # Narrower than the base class's ArrayLike: this implementation requires numpy arrays.
+    def solve_quadratic_program(self,  # type: ignore[override]
+                                H: NDArray[np.float64],
+                                f: NDArray[np.float64],
+                                A: Optional[NDArray[np.float64]],
+                                b: Optional[NDArray[np.float64]],
+                                Aeq: Optional[NDArray[np.float64]],
+                                beq: Optional[NDArray[np.float64]]) -> NDArray[np.float64]:
         """
          Solves the following quadratic program
             min(x)  0.5*x'Hx + f'x
@@ -81,24 +91,29 @@ def solve_quadratic_program(self, H, f, A, b, Aeq, beq):
         # Turn equality into a bounded inequality
         ## Aeq.x <= beq + delta
         ## Aeq.x >= beq - delta ==> -Aeq.x <= -beq + delta
-        if Aeq is not None: # beq is None already checked by the ValueError
+        if Aeq is not None:
+            assert beq is not None  # Already checked by the ValueError
             Aeq = np.vstack([Aeq, -Aeq])
             beq = beq.reshape(-1)
             beq = np.concatenate([beq + self.equality_constraints_tolerance, -beq + self.equality_constraints_tolerance])
 
-        # Use (A,b), (Aeq,beq), or both.
-        if Aeq is None:
+        # Use (A,b), (Aeq,beq), or both. The asserts were already checked by the ValueError.
+        A_internal: NDArray[np.float64]
+        b_internal: NDArray[np.float64]
+        if A is not None and Aeq is not None:
+            assert b is not None and beq is not None
+            A_internal = np.vstack([A, Aeq])
+            b_internal = np.concatenate([b.reshape(-1), beq])
+        elif A is not None:
+            assert b is not None
             A_internal = A
             b_internal = b
-        if A is None:
+        elif Aeq is not None:
+            assert beq is not None
             A_internal = Aeq
             b_internal = beq
-        if Aeq is not None and A is not None:
-            A_internal = np.vstack([A, Aeq])
-            b_internal = np.concatenate([b.reshape(-1), beq])
-
-        # Solve for the unconstrained case. quadprog does not accept None, so we add a dummy constraint.
-        if A is None and b is None and Aeq is None and beq is None:
+        else:
+            # Solve for the unconstrained case. quadprog does not accept None, so we add a dummy constraint.
             A_internal = np.zeros((1, H.shape[0]))
             b_internal = np.zeros(1)
 

dqrobotics/utils/DQ_LinearAlgebra/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._utils._DQ_LinearAlgebra import *
+from ..._dqrobotics._utils._DQ_LinearAlgebra import *

dqrobotics/utils/DQ_Math/__init__.py

@@ -1 +1 @@
-from dqrobotics._dqrobotics._utils._DQ_Math import *
+from ..._dqrobotics._utils._DQ_Math import *

dqrobotics/utils/__init__.py

@@ -23,4 +23,4 @@
 #
 # ################################################################
 """
-from dqrobotics._dqrobotics._utils import *
+from .._dqrobotics._utils import *

pyproject.toml

@@ -35,4 +35,10 @@ Issues = "https://github.com/dqrobotics/python/issues"
 enabled = true
 # https://stackoverflow.com/questions/73605607/how-to-use-setuptools-scm
 dev_template = "{tag}.a{ccount}"
-dirty_template = "{tag}.a{ccount}"
+dirty_template = "{tag}.a{ccount}"
+
+[tool.mypy]
+# The optional solver backends of dqrobotics.solvers ship no type information.
+[[tool.mypy.overrides]]
+module = ["quadprog", "cplex"]
+ignore_missing_imports = true