From b74643eb6dcf8b957e0b52adf1587528f9791487 Mon Sep 17 00:00:00 2001
From: Brent Yi <yibrenth@gmail.com>
Date: Wed, 6 Jan 2021 19:18:42 -0800
Subject: [PATCH] Support Python 3.6, 3.7; add publish action

---
 .github/workflows/build.yml   |  2 +-
 .github/workflows/publish.yml | 31 +++++++++++++++++++++++++++++++
 README.md                     |  8 ++++++++
 jaxlie/_base.py               |  2 +-
 jaxlie/_so3.py                |  8 ++++----
 setup.py                      |  7 +++++--
 6 files changed, 50 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/publish.yml

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index c613548..047bfdf 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.8", "3.9"]
+        python-version: ["3.6", "3.7", "3.8", "3.9"]
 
     steps:
       - uses: actions/checkout@v2
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
new file mode 100644
index 0000000..d5f3859
--- /dev/null
+++ b/.github/workflows/publish.yml
@@ -0,0 +1,31 @@
+# This workflows will upload a Python Package using Twine when a release is created
+# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
+
+name: Upload Python Package
+
+on:
+  release:
+    types: [created]
+
+jobs:
+  deploy:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v1
+      with:
+        python-version: '3.x'
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools wheel twine
+    - name: Build and publish
+      env:
+        TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
+        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
+      run: |
+        python setup.py sdist bdist_wheel
+        twine upload dist/*
diff --git a/README.md b/README.md
index b4b19bb..f1e739f 100644
--- a/README.md
+++ b/README.md
@@ -6,6 +6,7 @@
 [![codecov](https://codecov.io/gh/brentyi/jaxlie/branch/master/graph/badge.svg)](https://codecov.io/gh/brentyi/jaxlie)
 
 **[ [API reference](https://brentyi.github.io/jaxlie) ]**
+**[ [PyPI](https://pypi.org/project/jaxlie/) ]**
 
 `jaxlie` is a Lie theory library for rigid body transformations and optimization
 in JAX.
@@ -22,6 +23,13 @@ Current functionality:
 
 ---
 
+##### Install (Python >=3.7)
+```bash
+pip install jaxlie
+```
+
+---
+
 ##### Example usage
 
 ```python
diff --git a/jaxlie/_base.py b/jaxlie/_base.py
index 62a39e9..8477ecd 100644
--- a/jaxlie/_base.py
+++ b/jaxlie/_base.py
@@ -26,7 +26,7 @@ class MatrixLieGroup(abc.ABC):
     space_dim: int = 0
     """Dimension of coordinates that can be transformed."""
 
-    def __init__(self, parameters: jnp.ndarray, /):
+    def __init__(self, parameters: jnp.ndarray):
         """Construct a group object from its underlying parameters."""
 
         # Note that this method is implicitly overriden by the dataclass decorator and
diff --git a/jaxlie/_so3.py b/jaxlie/_so3.py
index c66b413..6596793 100644
--- a/jaxlie/_so3.py
+++ b/jaxlie/_so3.py
@@ -29,7 +29,7 @@ def __repr__(self):
         return f"{self.__class__.__name__}(wxyz={wxyz})"
 
     @staticmethod
-    def from_x_radians(theta) -> "SO3":
+    def from_x_radians(theta: float) -> "SO3":
         """Generates a x-axis rotation.
 
         Args:
@@ -41,7 +41,7 @@ def from_x_radians(theta) -> "SO3":
         return SO3.exp(jnp.array([theta, 0.0, 0.0]))
 
     @staticmethod
-    def from_y_radians(theta) -> "SO3":
+    def from_y_radians(theta: float) -> "SO3":
         """Generates a y-axis rotation.
 
         Args:
@@ -53,7 +53,7 @@ def from_y_radians(theta) -> "SO3":
         return SO3.exp(jnp.array([0.0, theta, 0.0]))
 
     @staticmethod
-    def from_z_radians(theta) -> "SO3":
+    def from_z_radians(theta: float) -> "SO3":
         """Generates a z-axis rotation.
 
         Args:
@@ -65,7 +65,7 @@ def from_z_radians(theta) -> "SO3":
         return SO3.exp(jnp.array([0.0, 0.0, theta]))
 
     @staticmethod
-    def from_rpy_radians(roll, pitch, yaw) -> "SO3":
+    def from_rpy_radians(roll: float, pitch: float, yaw: float) -> "SO3":
         """Generates a transform from a set of Euler angles.
         Uses the ZYX mobile robot convention.
 
diff --git a/setup.py b/setup.py
index dc87570..e5f9da0 100644
--- a/setup.py
+++ b/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name="jaxlie",
-    version="0.0.0",
+    version="0.0.1",
     description="Matrix Lie groups in Jax",
     long_description=long_description,
     long_description_content_type="text/markdown",
@@ -15,16 +15,19 @@
     license="MIT",
     packages=find_packages(exclude=["examples", "tests"]),
     package_data={"liejax": ["py.typed"]},
-    python_requires=">=3.7",
+    python_requires=">=3.6",
     install_requires=[
         "jax",
         "jaxlib",
         "numpy",
         "overrides",
+        "dataclasses; python_version < '3.7.0'",
     ],
     classifiers=[
+        "Programming Language :: Python :: 3.6",
         "Programming Language :: Python :: 3.7",
         "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9",
         "License :: OSI Approved :: MIT License",
         "Operating System :: OS Independent",
     ],