From 87c2bf501913f380c41ae403abd21562177fb0c6 Mon Sep 17 00:00:00 2001
From: Maxim Vochten <maxim.vochten@kuleuven.be>
Date: Wed, 14 Aug 2024 22:17:53 +0200
Subject: [PATCH] doc

---
 examples/calculate_invariants_position.py |  2 +-
 invariants_py/invariants_handler.py       | 45 ++++++++++++++---------
 2 files changed, 29 insertions(+), 18 deletions(-)

diff --git a/examples/calculate_invariants_position.py b/examples/calculate_invariants_position.py
index 3959630..c9fe670 100644
--- a/examples/calculate_invariants_position.py
+++ b/examples/calculate_invariants_position.py
@@ -16,7 +16,7 @@
 invariants, progress, calc_trajectory, movingframes, progress_n = invariants_handler.calculate_invariants_translation(trajectory)
 
 # (Optional) Reconstruction of the trajectory from the invariants
-reconstructed_trajectory, recon_mf = invariants_handler.reconstruct_trajectory(invariants, progress_n, p_init=calc_trajectory[0,:], mf_init=movingframes[0,:,:])
+reconstructed_trajectory, recon_mf = invariants_handler.reconstruct_trajectory(invariants, position_init=calc_trajectory[0,:], movingframe_init=movingframes[0,:,:])
 
 print(recon_mf[1,:,:])
 print(movingframes[1,:,:])
diff --git a/invariants_py/invariants_handler.py b/invariants_py/invariants_handler.py
index c57c042..c1e479c 100644
--- a/invariants_py/invariants_handler.py
+++ b/invariants_py/invariants_handler.py
@@ -27,28 +27,39 @@ def calculate_invariants_translation(trajectory, progress_definition="arclength"
     return invariants, arclength, trajectory, movingframes, arclength_n
 
 
-def reconstruct_trajectory(invariants, progress, p_init=np.zeros((3,1)), mf_init=np.eye(3)):
+def reconstruct_trajectory(invariants, position_init=np.zeros((3,1)), movingframe_init=np.eye(3)):
+    """
+    Reconstructs a position trajectory from its invariant representation starting from an initial position and moving frame.
+    
+    The initial position is the starting position of the trajectory. The initial moving frame encodes the starting direction (tangent and normal) of the trajectory.
+    
+    Parameters:
+    - invariants (numpy array of shape (N,3)): Array of vector invariants.
+    - p_init (numpy array of shape (3,1), optional): Initial position. Defaults to a 3x1 zero array.
+    - mf_init (numpy array of shape (3,3), optional): Initial frame matrix. Defaults to a 3x3 identity matrix.
+    
+    Returns:
+    - positions (numpy array of shape (N,3)): Array of reconstructed positions.
+    - R_frames (numpy array of shape (N,3,3)): Array of reconstructed moving frames.
+    """
 
-    N = len(progress)
+    N = np.size(invariants, 0)
+    stepsize = 1/N
 
     positions = np.zeros((N,3))
     R_frames = np.zeros((N,3,3))
-    
-    stepsize = 1/N
-    print(stepsize)
-    
-    positions[0,:] = p_init
-    R_frames[0,:,:] = mf_init
+
+    positions[0,:] = position_init
+    R_frames[0,:,:] = movingframe_init
 
     # Use integrator to find the other initial states
     for k in range(N-1):
-        
-        [R_plus1,p_plus1] = dyn.integrate_vector_invariants_position(mf_init, p_init, invariants[k,:], stepsize)
-        
+        [R_plus1, p_plus1] = dyn.integrate_vector_invariants_position(movingframe_init, position_init, invariants[k, :], stepsize)
+
         positions[k+1,:] = np.array(p_plus1).T
-        R_frames[k+1,:,:] = np.array(R_plus1)     
-        
-        p_init = p_plus1
-        mf_init = R_plus1
-    
-    return positions, R_frames
\ No newline at end of file
+        R_frames[k+1,:,:] = np.array(R_plus1)
+
+        position_init = p_plus1
+        movingframe_init = R_plus1
+
+    return positions, R_frames