metablmath
This is an active fork of blmath, a collection mathrelated utilities developed at Body Labs.
The fork's goals are moderate:
 Keep the library working in current versions of Python and other tools.
 Make bug fixes.
 Provide API stability and backward compatibility with the upstream version.
 Add additional functionality which relates well to what is here.
 Respond to community contributions.
It's used by related forks such as lace.
Installation
Install dependencies
On macOS:
brew install homebrew/science/suitesparse
brew install homebrew/science/opencv withoutnumpy
On Linux:
sudo aptget install pythonopencv libsuitesparsedev
Install the library
pip install metablmath
And import it just like the upstream library:
from blmath.numerics import vx
A collection of math related utilities used by many bits of BodyLabs' code.
blmath.numerics
Functions for manipulating numeric arrays, numbers, and linear algebra.
The most commonly used of these are directly imported into
blmath.numerics
.
 blmath.numerics.vx is a namespace of common linear algebra operations. These are easily expressed in numpy, but abstracted for readability purposes.

blmath.numerics.coercion contains a validation function
as_numeric_array
, which produces useful error messages up front on bad inputs, in place of cryptic messages like "cannot broadcast..." later on. 
blmath.numerics.operations contains basic numerical
operations such as
zero_safe_divide
. 
blmath.numerics.predicates contains functions like
isnumeric
. 
blmath.numerics.rounding contains functions including
"round to nearest" and
roundedlist
.  blmath.numerics.numpy_ext contains numpy utility functions.
 blmath.numerics.matlab contains some matlab shortcuts which have no numpy equivalent. At MPI the fitting code was originally written in Matlab before it was ported to Python.
blmath.numerics.linalg contains linear algebra operations.
 blmath.numerics.linalg.sparse_cg contains a faster matrix solve optimized for sparse Jacobians.
 blmath.numerics.linalg.lchol contains a Cythonized implementation of Cholesky factorization.
 blmath.numerics.linalg.isomorphism computes the isomorphism between two bases.
 blmath.numerics.linalg.gram_schmidt provides a function for orthonormalization.
blmath.geometry
Geometric operations, transforms, and primitives, in 2D and 3D.
The most commonly used of these are directly imported into
blmath.geometry
.
 blmath.geometry.Box represents an axisaligned cuboid.
 blmath.geometry.Plane represents a 2D plane in 3space (not a hyperplane).
 blmath.geometry.Polyline represents an unconstrained polygonal chain in 3space.
blmath.geometry.transform
includes code for 3D transforms.
 blmath.geometry.transform.CompositeTransform represents a composite transform using homogeneous coordinates. (Thanks avd!)
 blmath.geometry.transform.CoordinateManager provides a convenient interface for named reference frames within a stack of transforms and projecting points from one reference frame to another.

blmath.geometry.transform.find_rigid_transform
finds a rotation and translation that closely transforms one set of points to
another. Its cousin
find_rigid_rotation
does the same, but only allows rotation, not translation.  blmath.geometry.transform.rotation.rotation_from_up_and_look produces a rotation matrix that gets a mesh into the canonical reference frame from "up" and "look" vectors.
Other modules:
 blmath.geometry.apex provides functions for finding the most extreme point.
 blmath.geometry.barycentric provides a function for projecting a point to a triangle using barycentric coordinates.
 blmath.geometry.convexify provides a function for producing a convex hull from a mostlyplanar curve.
 blmath.geometry.segment provides functions for working with line segments in nspace.
blmath.value
Class for wrapping and manipulating value
/units
pairs.
blmath.units
TODO write something here
blmath.console
 blmath.console.input_float reads and returns a float from console.

blmath.console.input_value combines
units
with a float input from console and returnsValue
object.
Development
pip install r requirements_dev.txt
pip install e . # builds the native extension
rake unittest
rake lint
Contribute
 Issue Tracker: https://github.com/metabolize/blmath/issues
 Source Code: https://github.com/metabolize/blmath
Pull requests welcome!
Support
If you are having issues, please let us know.
Acknowledgements
This collection was developed at Body Labs and includes a combination of code developed at Body Labs, from legacy code and significant new portions by Eric Rachlin, Alex Weiss, and Paul Melnikow. It was extracted from the Body Labs codebase and opensourced by Alex Weiss.
License
The project is licensed under the twoclause BSD license.