<commit_before>====
PyDy
====

|pypi| |binstar| |rtd-docs| |travis-build| |Gitter Badge|

.. |pypi| image:: https://img.shields.io/pypi/v/pydy.svg
   :target: https://pypi.python.org/pypi/pydy
   :alt: Latest Released Version

.. |binstar| image:: https://binstar.org/pydy/pydy/badges/version.svg
   :target: https://binstar.org/pydy/pydy

.. |rtd-docs| image:: https://readthedocs.org/projects/pydy/badge/?version=latest
   :target: http://pydy.readthedocs.org/en/latest
   :alt: Latest documentation

.. |travis-build| image:: https://travis-ci.org/pydy/pydy.png?branch=master
   :target: https://travis-ci.org/pydy/pydy

.. |Gitter Badge| image:: https://badges.gitter.im/Join%20Chat.svg
   :target: https://gitter.im/pydy/pydy?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge

PyDy_, short for Python Dynamics, is a tool kit written in the Python
programming language that utilizes an array of scientific programs to enable
the study of multibody dynamics. The goal is to have a modular framework and
eventually a physics abstraction layer which utilizes a variety of backends
that can provide the user with their desired workflow, including:

.. _PyDy: http://pydy.org

- Model specification
- Equation of motion generation
- Simulation
- Visualization
- Publication

We started by building the SymPy_ `mechanics package`_ which provides an API
for building models and generating the symbolic equations of motion for complex
multibody systems. More recently we developed two packages, `pydy.codegen`
and `pydy.viz`, for simulation and visualization of the models, respectively.
This Python package contains these two packages and other tools for working
with SymPy mechanics. The remaining tools currently used in the PyDy workflow
are popular scientific Python packages such as NumPy_, SciPy_, IPython_, and
matplotlib_ (i.e. the SciPy stack) which provide additional code for numerical
analyses, simulation, and visualization.

.. _SymPy: http://sympy.org
.. _mechanics package: http://docs.sympy.org/latest/modules/physics/mechanics/index.html
.. _NumPy: http://numpy.scipy.org
.. _SciPy: http://www.scipy.org/scipylib/index.html
.. _IPython: http://ipython.org
.. _matplotlib: http://matplotlib.org

Installation
============

PyDy has hard dependencies on the following software\ [#]_:

- Python >= 2.7, >= 3.3
- setuptools\ [#]_
- NumPy_ >= 1.7 (>= 1.9 with Python >= 3.3)
- SciPy_ >= 0.11.0 (>= 0.14.0 with Python >= 3.3)
- SymPy_ >= 0.7.4.1 (>= 0.7.5 with Python >= 3.3)

.. [#] We only test PyDy with these minimum dependencies. Previous versions may
   work.
.. [#] setuptools >= 8.0 is required if development versions of SymPy are used.

PyDy has optional dependencies on these packages:

- IPython_ >= 0.3.0
- Theano_ >= 0.6.0 (>= 0.7.0 with Python >= 3.3)
- Cython_ >= 0.17 (>= 0.20.1 with Python >= 3.3)

.. _Theano: http://deeplearning.net/software/theano/
.. _Cython: http://cython.org/

The examples may require these dependencies:

- matplotlib_

It's best to install the SciPy Stack dependencies using the instructions_
provided on the SciPy website. We recommend the conda_ package manager and the
Anaconda_ distribution for easy cross platform installation.

.. _instructions: http://www.scipy.org/install.html
.. _conda: http://conda.pydata.org/
.. _Anaconda: http://docs.continuum.io/anaconda/

Once the dependencies are installed, the latest stable version of the package
can be downloaded from PyPi::

   $ wget https://pypi.python.org/packages/source/p/pydy/pydy-0.2.1.tar.gz

and extracted and installed\ [#]_::

   $ tar -zxvf pydy-0.2.1.tar.gz
   $ cd pydy-0.2.1
   $ python setup.py install

Or if you have the pip package manager installed you can simply type::

   $ pip install pydy

.. [#] For system wide installs you may need root permissions (perhaps prepend
   commands with ``sudo``).<commit_msg>Added conda install instructions to the README.<commit_after>====
PyDy
====

|pypi| |binstar| |rtd-docs| |travis-build| |Gitter Badge|

.. |pypi| image:: https://img.shields.io/pypi/v/pydy.svg
   :target: https://pypi.python.org/pypi/pydy
   :alt: Latest Released Version

.. |binstar| image:: https://binstar.org/pydy/pydy/badges/version.svg
   :target: https://binstar.org/pydy/pydy

.. |rtd-docs| image:: https://readthedocs.org/projects/pydy/badge/?version=latest
   :target: http://pydy.readthedocs.org/en/latest
   :alt: Latest documentation

.. |travis-build| image:: https://travis-ci.org/pydy/pydy.png?branch=master
   :target: https://travis-ci.org/pydy/pydy

.. |Gitter Badge| image:: https://badges.gitter.im/Join%20Chat.svg
   :target: https://gitter.im/pydy/pydy?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge

PyDy_, short for Python Dynamics, is a tool kit written in the Python
programming language that utilizes an array of scientific programs to enable
the study of multibody dynamics. The goal is to have a modular framework and
eventually a physics abstraction layer which utilizes a variety of backends
that can provide the user with their desired workflow, including:

.. _PyDy: http://pydy.org

- Model specification
- Equation of motion generation
- Simulation
- Visualization
- Publication

We started by building the SymPy_ `mechanics package`_ which provides an API
for building models and generating the symbolic equations of motion for complex
multibody systems. More recently we developed two packages, `pydy.codegen`
and `pydy.viz`, for simulation and visualization of the models, respectively.
This Python package contains these two packages and other tools for working
with SymPy mechanics. The remaining tools currently used in the PyDy workflow
are popular scientific Python packages such as NumPy_, SciPy_, IPython_, and
matplotlib_ (i.e. the SciPy stack) which provide additional code for numerical
analyses, simulation, and visualization.

.. _SymPy: http://sympy.org
.. _mechanics package: http://docs.sympy.org/latest/modules/physics/mechanics/index.html
.. _NumPy: http://numpy.scipy.org
.. _SciPy: http://www.scipy.org/scipylib/index.html
.. _IPython: http://ipython.org
.. _matplotlib: http://matplotlib.org

Installation
============

PyDy has hard dependencies on the following software\ [#]_:

- Python >= 2.7, >= 3.3
- setuptools\ [#]_
- NumPy_ >= 1.7 (>= 1.9 with Python >= 3.3)
- SciPy_ >= 0.11.0 (>= 0.14.0 with Python >= 3.3)
- SymPy_ >= 0.7.4.1 (>= 0.7.5 with Python >= 3.3)

.. [#] We only test PyDy with these minimum dependencies. Previous versions may
   work.
.. [#] setuptools >= 8.0 is required if development versions of SymPy are used.

PyDy has optional dependencies on these packages:

- IPython_ >= 0.3.0
- Theano_ >= 0.6.0 (>= 0.7.0 with Python >= 3.3)
- Cython_ >= 0.17 (>= 0.20.1 with Python >= 3.3)

.. _Theano: http://deeplearning.net/software/theano/
.. _Cython: http://cython.org/

The examples may require these dependencies:

- matplotlib_

It's best to install the SciPy Stack dependencies using the instructions_
provided on the SciPy website first. We recommend the conda_ package manager
and the Anaconda_ distribution for easy cross platform installation.

.. _instructions: http://www.scipy.org/install.html
.. _conda: http://conda.pydata.org/
.. _Anaconda: http://docs.continuum.io/anaconda/

Once the dependencies are installed, the latest stable version of the package
can be downloaded from PyPi\ [#]_::

   $ wget https://pypi.python.org/packages/source/p/pydy/pydy-X.X.X.tar.gz

and extracted and installed\ [#]_::

   $ tar -zxvf pydy-X.X.X.tar.gz
   $ cd pydy-X.X.X
   $ python setup.py install

Or if you have the pip package manager installed you can simply type::

   $ pip install pydy

Or if you have conda you can type::

   $ conda install -c pydy pydy

.. [#] Change ``X.X.X`` to the latest version number.

.. [#] For system wide installs you may need root permissions (perhaps prepend
   commands with ``sudo``).
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