Minor tweaks

Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "ik_geo"
+name = "ik-geo"
 version = "1.0.2"
 edition = "2021"
 

ik_geo.pyi

@@ -2,11 +2,20 @@ from typing import List, Tuple, Annotated, Literal
 import numpy as np
 from numpy.typing import NDArray
 
+
 class Robot:
     """
-    Representation of the robot for inverse kinematics
+    Representation of the robot for inverse kinematics.
 
+    Must construct with factory methods, default constructor raises NotImplementedError.
     """
+    def __init__(self) -> None:
+        """
+        Invalid constructor, will raise a NotImplementedError
+
+        Use the factory methods instead.
+        """
+        raise NotImplementedError("Initialize with factory methods")
 
     def get_ik(
         self,
@@ -96,7 +105,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def spherical_two_parallel(
@@ -110,7 +119,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def spherical(
@@ -124,7 +133,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def three_parallel_two_intersecting(
@@ -138,7 +147,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def three_parallel(
@@ -152,7 +161,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def two_parallel(
@@ -166,7 +175,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def two_intersecting(
@@ -180,7 +189,7 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
+        pass
 
     @classmethod
     def gen_six_dof(
@@ -194,5 +203,4 @@ class Robot:
             | Annotated[List[List[float]], [7, 3]]
         ),
     ) -> "Robot":
-        ...
-
+        pass

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["maturin>=1.5,<2.0"]
 build-backend = "maturin"
 
 [project]
-name = "ik_geo"
+name = "ik-geo"
 requires-python = ">=3.8"
 classifiers = [
     "Programming Language :: Rust",

src/lib.rs

@@ -47,7 +47,7 @@ fn pack_kinematics(h: [[f64; 3]; 6], p: [[f64; 3]; 7]) -> (Matrix3x6<f64>, Matri
 }
 
 // Create a class for the robot
-#[pyclass()]
+#[pyclass]
 struct Robot {
     robot: IKGeoRobot,
 }
@@ -56,6 +56,13 @@ struct Robot {
 // Implement the Robot class
 #[pymethods]
 impl Robot {
+    // No constructor, raise not implemented error
+    #[new]
+    fn new() -> PyResult<Self> {
+        Err(PyErr::new::<pyo3::exceptions::PyNotImplementedError, _>(
+            "No constructor for Robot class, use static factory methods instead",
+        ))
+    }
     // Get the inverse kinematics for the robot
     // 2d array for the rotation matrix (row major), 3 values for translation vector
     pub fn get_ik(
@@ -217,35 +224,6 @@ impl Robot {
     }
 }
 
-// fn dummy_solver_hardcoded(_: &Matrix3<f64>, _: &Vector3<f64>) -> (Vec<Vector6<f64>>, Vec<bool>) {
-//     panic!("This function should never be called");
-// }
-
-// fn dummy_solver_general(
-//     _: &Matrix3<f64>,
-//     _: &Vector3<f64>,
-//     _: &Kinematics<6, 7>,
-// ) -> (Vec<Vector6<f64>>, Vec<bool>) {
-//     panic!("This function should never be called");
-// }
-
-// // Unexposed method to call the correct ik solver
-// fn call_ik_solver(
-//     robot: &mut Robot,
-//     rot_matrix: Matrix3<f64>,
-//     trans_vec: Vector3<f64>,
-// ) -> (Vec<Vector6<f64>>, Vec<bool>) {
-//     if robot.is_hardcoded {
-//         (robot.hardcoded_solver)(&rot_matrix, &trans_vec)
-//     } else {
-//         // Make sure kinematics are set before calling the general solver
-//         if !robot.kin_set {
-//             panic!("Kinematics must be set before calling the general solver");
-//         }
-//         (robot.general_solver)(&rot_matrix, &trans_vec, &robot.kin)
-//     }
-// }
-
 /// A Python module implemented in Rust.
 #[pymodule]
 fn ik_geo(_py: Python, m: &PyModule) -> PyResult<()> {