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Part of #234, covering the SymPy half only. The SciPy work remains separate in #244.
import spatialmathno longer loads SymPy just to check scalar types.issymbol()checks the already-loaded module, and scalar/vector checks use it dynamically so importing SymPy after SpatialMath works too.The other eager SymPy imports in vector norms, object-matrix determinants and 2D pose extraction are deferred. Explicit symbolic helpers load the optional dependency when called; explicit access to
Symbolandsymtyperemains available.Added nine isolated-process test cases covering numeric imports and operations, both import orders, symbolic arithmetic and transforms, explicit helpers and legacy aliases, and numeric use with SymPy blocked.
Validation: Python 3.10/Linux,
MPLBACKEND=Agg python -m pytest tests/ -p no:xvfb -q: 389 passed, 3 skipped, 18 subtests passed. No timing claim is made here. Other Python versions and platforms were not tested.