Hugo Hadfield

Constructing default projection for a compound state space of multiple SO3 state spaces

3

I'm currently modelling an N-link robot arm via a compound state space constructed from N SO3 state spaces. Unfortunately currently it appears I can only use an RRT planner as...

As mentioned in https://github.com/pygae/clifford/pull/381 a change in the upstream package sphinxcontrib-bibtex means we should pin our version to

Implement Shirokov's arbitrary metric inverse

2

This should hopefully allow us to extend the current linalg free inverse method to arbitrary algebras, details in this paper: https://arxiv.org/pdf/2005.04015.pdf

Start conversion of njit to jit to allow object mode multivectors

1

Doing this will allow mvs in object mode which will, for example, allow us to mix in sympy symbols

Currently the package has accidental support for complex clifford algebras but this has not been an explicit design goal. Having read https://blogs.mathworks.com/cleve/2013/10/14/complex-step-differentiation/ thanks to a prompting by @tBuLi it seems...

Improve MVArray

4

MVArray is very useful but a little lacking in functionality. My current wishlist would include: * [ ] Nd multivector arrays to and from Nd numpy arrays with the coefficient...

Implement numba extension support

4

Using the numba extension interface https://numba.pydata.org/numba-doc/latest/extending/interval-example.html We should be able to create a multivector type that numba understands and can work with directly. This would vastly improve the readability and...

Stop CI failing due to irrelevant issues

2

Currently the CI fails fairly regularly due to irrelevant accuracy problems on some tests. My current thoughts on this is that it is largely down to the fact we almost...