doc/reference.rst

   1
   2 Module Reference
   3 ================
   4
   5
   6 Symbols
   7 -------
   8
   9 *Symbols* are the basic components to build expressions and constraints.
  10 They correspond to mathematical variables.
  11
  12 .. class:: Symbol(name)
  13
  14     Return a symbol with the name string given in argument.
  15     Alternatively, the function :func:`symbols` allows to create several symbols at once.
  16     Symbols are instances of class :class:`LinExpr` and inherit its functionalities.
  17
  18     >>> x = Symbol('x')
  19     >>> x
  20     x
  21
  22     Two instances of :class:`Symbol` are equal if they have the same name.
  23
  24     .. attribute:: name
  25
  26         The name of the symbol.
  27
  28     .. method:: asdummy()
  29
  30         Return a new :class:`Dummy` symbol instance with the same name.
  31
  32     .. method:: sortkey()
  33
  34         Return a sorting key for the symbol.
  35         It is useful to sort a list of symbols in a consistent order, as comparison functions are overridden (see the documentation of class :class:`LinExpr`).
  36
  37         >>> sort(symbols, key=Symbol.sortkey)
  38
  39
  40 .. function:: symbols(names)
  41
  42     This function returns a tuple of symbols whose names are taken from a comma or whitespace delimited string, or a sequence of strings.
  43     It is useful to define several symbols at once.
  44
  45     >>> x, y = symbols('x y')
  46     >>> x, y = symbols('x, y')
  47     >>> x, y = symbols(['x', 'y'])
  48
  49
  50 Sometimes you need to have a unique symbol. For example, you might need a temporary one in some calculation, which is going to be substituted for something else at the end anyway.
  51 This is achieved using ``Dummy('x')``.
  52
  53 .. class:: Dummy(name=None)
  54
  55     A variation of :class:`Symbol` in which all symbols are unique and identified by an internal count index.
  56     If a name is not supplied then a string value of the count index will be used.
  57     This is useful when a unique, temporary variable is needed and the name of the variable used in the expression is not important.
  58
  59     Unlike :class:`Symbol`, :class:`Dummy` instances with the same name are not equal:
  60
  61     >>> x = Symbol('x')
  62     >>> x1, x2 = Dummy('x'), Dummy('x')
  63     >>> x == x1
  64     False
  65     >>> x1 == x2
  66     False
  67     >>> x1 == x1
  68     True
  69
  70
  71 Linear Expressions
  72 ------------------
  73
  74 A *linear expression* consists of a list of coefficient-variable pairs that capture the linear terms, plus a constant term.
  75 Linear expressions are used to build constraints. They are temporary objects that typically have short lifespans.
  76
  77 Linear expressions are generally built using overloaded operators.
  78 For example, if ``x`` is a :class:`Symbol`, then ``x + 1`` is an instance of :class:`LinExpr`.
  79
  80 .. class:: LinExpr(coefficients=None, constant=0)
  81               LinExpr(string)
  82
  83     Return a linear expression from a dictionary or a sequence, that maps symbols to their coefficients, and a constant term.
  84     The coefficients and the constant term must be rational numbers.
  85
  86     For example, the linear expression ``x + 2y + 1`` can be constructed using one of the following instructions:
  87
  88     >>> x, y = symbols('x y')
  89     >>> LinExpr({x: 1, y: 2}, 1)
  90     >>> LinExpr([(x, 1), (y, 2)], 1)
  91
  92     However, it may be easier to use overloaded operators:
  93
  94     >>> x, y = symbols('x y')
  95     >>> x + 2*y + 1
  96
  97     Alternatively, linear expressions can be constructed from a string:
  98
  99     >>> LinExpr('x + 2*y + 1')
 100
 101     :class:`LinExpr` instances are hashable, and should be treated as immutable.
 102
 103     A linear expression with a single symbol of coefficient 1 and no constant term is automatically subclassed as a :class:`Symbol` instance.
 104     A linear expression with no symbol, only a constant term, is automatically subclassed as a :class:`Rational` instance.
 105
 106     .. method:: coefficient(symbol)
 107                 __getitem__(symbol)
 108
 109         Return the coefficient value of the given symbol, or ``0`` if the symbol does not appear in the expression.
 110
 111     .. method:: coefficients()
 112
 113         Iterate over the pairs ``(symbol, value)`` of linear terms in the expression.
 114         The constant term is ignored.
 115
 116     .. attribute:: constant
 117
 118         The constant term of the expression.
 119
 120     .. attribute:: symbols
 121
 122         The tuple of symbols present in the expression, sorted according to :meth:`Symbol.sortkey`.
 123
 124     .. attribute:: dimension
 125
 126         The dimension of the expression, i.e. the number of symbols present in it.
 127
 128     .. method:: isconstant()
 129
 130         Return ``True`` if the expression only consists of a constant term.
 131         In this case, it is a :class:`Rational` instance.
 132
 133     .. method:: issymbol()
 134
 135         Return ``True`` if an expression only consists of a symbol with coefficient ``1``.
 136         In this case, it is a :class:`Symbol` instance.
 137
 138     .. method:: values()
 139
 140         Iterate over the coefficient values in the expression, and the constant term.
 141
 142     .. method:: __add__(expr)
 143
 144         Return the sum of two linear expressions.
 145
 146     .. method:: __sub__(expr)
 147
 148         Return the difference between two linear expressions.
 149
 150     .. method:: __mul__(value)
 151
 152         Return the product of the linear expression by a rational.
 153
 154     .. method:: __truediv__(value)
 155
 156         Return the quotient of the linear expression by a rational.
 157
 158     .. method:: __eq__(expr)
 159
 160         Test whether two linear expressions are equal.
 161
 162     As explained below, it is possible to create polyhedra from linear expressions using comparison methods.
 163
 164     .. method:: __lt__(expr)
 165                 __le__(expr)
 166                 __ge__(expr)
 167                 __gt__(expr)
 168
 169         Create a new :class:`Polyhedron` instance whose unique constraint is the comparison between two linear expressions.
 170         As an alternative, functions :func:`Lt`, :func:`Le`, :func:`Ge` and :func:`Gt` can be used.
 171
 172         >>> x, y = symbols('x y')
 173         >>> x < y
 174         Le(x - y + 1, 0)
 175
 176
 177     .. method:: scaleint()
 178
 179         Return the expression multiplied by its lowest common denominator to make all values integer.
 180
 181     .. method:: subs(symbol, expression)
 182                 subs(pairs)
 183
 184         Substitute the given symbol by an expression and return the resulting expression.
 185         Raise :exc:`TypeError` if the resulting expression is not linear.
 186
 187         >>> x, y = symbols('x y')
 188         >>> e = x + 2*y + 1
 189         >>> e.subs(y, x - 1)
 190         3*x - 1
 191
 192         To perform multiple substitutions at once, pass a sequence or a dictionary of ``(old, new)`` pairs to ``subs``.
 193
 194         >>> e.subs({x: y, y: x})
 195         2*x + y + 1
 196
 197     .. classmethod:: fromstring(string)
 198
 199         Create an expression from a string.
 200         Raise :exc:`SyntaxError` if the string is not properly formatted.
 201
 202     There are also methods to convert linear expressions to and from `SymPy <http://sympy.org>`_ expressions:
 203
 204     .. classmethod:: fromsympy(expr)
 205
 206         Create a linear expression from a :mod:`sympy` expression.
 207         Raise :exc:`TypeError` is the :mod:`sympy` expression is not linear.
 208
 209     .. method:: tosympy()
 210
 211         Convert the linear expression to a sympy expression.
 212
 213
 214 Apart from :mod:`Symbol`, a particular case of linear expressions are rational values, i.e. linear expressions consisting only of a constant term, with no symbol.
 215 They are implemented by the :class:`Rational` class, that inherits from both :class:`LinExpr` and :class:`fractions.Fraction` classes.
 216
 217 .. class:: Rational(numerator, denominator=1)
 218               Rational(string)
 219
 220     The first version requires that the *numerator* and *denominator* are instances of :class:`numbers.Rational` and returns a new :class:`Rational` instance with the value ``numerator/denominator``.
 221     If the denominator is ``0``, it raises a :exc:`ZeroDivisionError`.
 222     The other version of the constructor expects a string.
 223     The usual form for this instance is::
 224
 225         [sign] numerator ['/' denominator]
 226
 227     where the optional ``sign`` may be either '+' or '-' and the ``numerator`` and ``denominator`` (if present) are strings of decimal digits.
 228
 229     See the documentation of :class:`fractions.Fraction` for more information and examples.
 230
 231
 232 Polyhedra
 233 ---------
 234
 235 A *convex polyhedron* (or simply "polyhedron") is the space defined by a system of linear equalities and inequalities.
 236 This space can be unbounded.
 237
 238 .. class:: Polyhedron(equalities, inequalities)
 239               Polyhedron(string)
 240               Polyhedron(geometric object)
 241
 242     Return a polyhedron from two sequences of linear expressions: *equalities* is a list of expressions equal to ``0``, and *inequalities* is a list of expressions greater or equal to ``0``.
 243     For example, the polyhedron ``0 <= x <= 2, 0 <= y <= 2`` can be constructed with:
 244
 245     >>> x, y = symbols('x y')
 246     >>> square = Polyhedron([], [x, 2 - x, y, 2 - y])
 247
 248     It may be easier to use comparison operators :meth:`LinExpr.__lt__`, :meth:`LinExpr.__le__`, :meth:`LinExpr.__ge__`, :meth:`LinExpr.__gt__`, or functions :func:`Lt`, :func:`Le`, :func:`Eq`, :func:`Ge` and :func:`Gt`, using one of the following instructions:
 249
 250     >>> x, y = symbols('x y')
 251     >>> square = (0 <= x) & (x <= 2) & (0 <= y) & (y <= 2)
 252     >>> square = Le(0, x, 2) & Le(0, y, 2)
 253
 254     It is also possible to build a polyhedron from a string.
 255
 256     >>> square = Polyhedron('0 <= x <= 2, 0 <= y <= 2')
 257
 258     Finally, a polyhedron can be constructed from a :class:`GeometricObject` instance, calling the :meth:`GeometricObject.aspolyedron` method.
 259     This way, it is possible to compute the polyhedral hull of a :class:`Domain` instance, i.e., the convex hull of two polyhedra:
 260
 261     >>> square = Polyhedron('0 <= x <= 2, 0 <= y <= 2')
 262     >>> square2 = Polyhedron('2 <= x <= 4, 2 <= y <= 4')
 263     >>> Polyhedron(square | square2)
 264
 265     A polyhedron is a :class:`Domain` instance, and, therefore, inherits the functionalities of this class.
 266     It is also a :class:`GeometricObject` instance.
 267
 268     .. attribute:: equalities
 269
 270         The tuple of equalities.
 271         This is a list of :class:`LinExpr` instances that are equal to ``0`` in the polyhedron.
 272
 273     .. attribute:: inequalities
 274
 275         The tuple of inequalities.
 276         This is a list of :class:`LinExpr` instances that are greater or equal to ``0`` in the polyhedron.
 277
 278     .. attribute:: constraints
 279
 280         The tuple of constraints, i.e., equalities and inequalities.
 281         This is semantically equivalent to: ``equalities + inequalities``.
 282
 283     .. method:: convex_union(polyhedron[, ...])
 284
 285         Return the convex union of two or more polyhedra.
 286
 287     .. method:: asinequalities()
 288
 289         Express the polyhedron using inequalities, given as a list of expressions greater or equal to 0.
 290
 291     .. method:: widen(polyhedron)
 292
 293         Compute the *standard widening* of two polyhedra, à la Halbwachs.
 294
 295         In its current implementation, this method is slow and should not be used on large polyhedra.
 296
 297
 298 .. data:: Empty
 299
 300     The empty polyhedron, whose set of constraints is not satisfiable.
 301
 302 .. data:: Universe
 303
 304     The universe polyhedron, whose set of constraints is always satisfiable, i.e. is empty.
 305
 306 Domains
 307 -------
 308
 309 A *domain* is a union of polyhedra.
 310 Unlike polyhedra, domains allow exact computation of union and complementary operations.
 311
 312 .. class:: Domain(*polyhedra)
 313               Domain(string)
 314               Domain(geometric object)
 315
 316     Return a domain from a sequence of polyhedra.
 317
 318     >>> square = Polyhedron('0 <= x <= 2, 0 <= y <= 2')
 319     >>> square2 = Polyhedron('2 <= x <= 4, 2 <= y <= 4')
 320     >>> dom = Domain([square, square2])
 321
 322     It is also possible to build domains from polyhedra using arithmetic operators :meth:`Domain.__and__`, :meth:`Domain.__or__` or functions :func:`And` and :func:`Or`, using one of the following instructions:
 323
 324     >>> square = Polyhedron('0 <= x <= 2, 0 <= y <= 2')
 325     >>> square2 = Polyhedron('2 <= x <= 4, 2 <= y <= 4')
 326     >>> dom = square | square2
 327     >>> dom = Or(square, square2)
 328
 329     Alternatively, a domain can be built from a string:
 330
 331     >>> dom = Domain('0 <= x <= 2, 0 <= y <= 2; 2 <= x <= 4, 2 <= y <= 4')
 332
 333     Finally, a domain can be built from a :class:`GeometricObject` instance, calling the :meth:`GeometricObject.asdomain` method.
 334
 335     A domain is also a :class:`GeometricObject` instance.
 336     A domain with a unique polyhedron is automatically subclassed as a :class:`Polyhedron` instance.
 337
 338     .. attribute:: polyhedra
 339
 340         The tuple of polyhedra present in the domain.
 341
 342     .. attribute:: symbols
 343
 344         The tuple of symbols present in the domain equations, sorted according to :meth:`Symbol.sortkey`.
 345
 346     .. attribute:: dimension
 347
 348         The dimension of the domain, i.e. the number of symbols present in it.
 349
 350     .. method:: isempty()
 351
 352         Return ``True`` if the domain is empty, that is, equal to :data:`Empty`.
 353
 354     .. method:: __bool__()
 355
 356         Return ``True`` if the domain is non-empty.
 357
 358     .. method:: isuniverse()
 359
 360         Return ``True`` if the domain is universal, that is, equal to :data:`Universe`.
 361
 362     .. method:: isbounded()
 363
 364         Return ``True`` is the domain is bounded.
 365
 366     .. method:: __eq__(domain)
 367
 368         Return ``True`` if two domains are equal.
 369
 370     .. method:: isdisjoint(domain)
 371
 372         Return ``True`` if two domains have a null intersection.
 373
 374     .. method:: issubset(domain)
 375                 __le__(domain)
 376
 377         Report whether another domain contains the domain.
 378
 379     .. method:: __lt__(domain)
 380
 381         Report whether another domain is contained within the domain.
 382
 383     .. method:: complement()
 384                 __invert__()
 385
 386         Return the complementary domain of the domain.
 387
 388     .. method:: make_disjoint()
 389
 390         Return an equivalent domain, whose polyhedra are disjoint.
 391
 392     .. method:: coalesce()
 393
 394         Simplify the representation of the domain by trying to combine pairs of polyhedra into a single polyhedron, and return the resulting domain.
 395
 396     .. method:: detect_equalities()
 397
 398         Simplify the representation of the domain by detecting implicit equalities, and return the resulting domain.
 399
 400     .. method:: remove_redundancies()
 401
 402         Remove redundant constraints in the domain, and return the resulting domain.
 403
 404     .. method:: project(symbols)
 405
 406         Project out the sequence of symbols given in arguments, and return the resulting domain.
 407
 408     .. method:: sample()
 409
 410         Return a sample of the domain, as an integer instance of :class:`Point`.
 411         If the domain is empty, a :exc:`ValueError` exception is raised.
 412
 413     .. method:: intersection(domain[, ...])
 414                 __and__(domain)
 415
 416         Return the intersection of two or more domains as a new domain.
 417         As an alternative, function :func:`And` can be used.
 418
 419     .. method:: union(domain[, ...])
 420                 __or__(domain)
 421                 __add__(domain)
 422
 423         Return the union of two or more domains as a new domain.
 424         As an alternative, function :func:`Or` can be used.
 425
 426     .. method:: difference(domain)
 427                 __sub__(domain)
 428
 429         Return the difference between two domains as a new domain.
 430
 431     .. method:: lexmin()
 432
 433         Return the lexicographic minimum of the elements in the domain.
 434
 435     .. method:: lexmax()
 436
 437         Return the lexicographic maximum of the elements in the domain.
 438
 439     .. method:: vertices()
 440
 441         Return the vertices of the domain, as a list of rational instances of :class:`Point`.
 442
 443     .. method:: points()
 444
 445         Return the integer points of a bounded domain, as a list of integer instances of :class:`Point`.
 446         If the domain is not bounded, a :exc:`ValueError` exception is raised.
 447
 448     .. method:: __contains__(point)
 449
 450         Return ``True`` if the point is contained within the domain.
 451
 452     .. method:: faces()
 453
 454         Return the list of faces of a bounded domain.
 455         Each face is represented by a list of vertices, in the form of rational instances of :class:`Point`.
 456         If the domain is not bounded, a :exc:`ValueError` exception is raised.
 457
 458     .. method:: plot(plot=None, **options)
 459
 460         Plot a 2D or 3D domain using `matplotlib <http://matplotlib.org/>`_.
 461         Draw it to the current *plot* object if present, otherwise create a new one.
 462         *options* are keyword arguments passed to the matplotlib drawing functions, they can be used to set the drawing color for example.
 463         Raise :exc:`ValueError` is the domain is not 2D or 3D.
 464
 465     .. method:: subs(symbol, expression)
 466                 subs(pairs)
 467
 468         Substitute the given symbol by an expression in the domain constraints.
 469         To perform multiple substitutions at once, pass a sequence or a dictionary of ``(old, new)`` pairs to ``subs``.
 470         The syntax of this function is similar to :func:`LinExpr.subs`.
 471
 472     .. classmethod:: fromstring(string)
 473
 474         Create a domain from a string.
 475         Raise :exc:`SyntaxError` if the string is not properly formatted.
 476
 477     There are also methods to convert a domain to and from `SymPy <http://sympy.org>`_ expressions:
 478
 479     .. classmethod:: fromsympy(expr)
 480
 481         Create a domain from a sympy expression.
 482
 483     .. method:: tosympy()
 484
 485         Convert the domain to a sympy expression.
 486
 487
 488 Comparison and Logic Operators
 489 ------------------------------
 490
 491 The following functions create :class:`Polyhedron` or :class:`Domain` instances using the comparisons of two or more :class:`LinExpr` instances:
 492
 493 .. function:: Lt(expr1, expr2[, expr3, ...])
 494
 495     Create the polyhedron with constraints ``expr1 < expr2 < expr3 ...``.
 496
 497 .. function:: Le(expr1, expr2[, expr3, ...])
 498
 499     Create the polyhedron with constraints ``expr1 <= expr2 <= expr3 ...``.
 500
 501 .. function:: Eq(expr1, expr2[, expr3, ...])
 502
 503     Create the polyhedron with constraints ``expr1 == expr2 == expr3 ...``.
 504
 505 .. function:: Ne(expr1, expr2[, expr3, ...])
 506
 507     Create the domain such that ``expr1 != expr2 != expr3 ...``.
 508     The result is a :class:`Domain`, not a :class:`Polyhedron`.
 509
 510 .. function:: Ge(expr1, expr2[, expr3, ...])
 511
 512     Create the polyhedron with constraints ``expr1 >= expr2 >= expr3 ...``.
 513
 514 .. function:: Gt(expr1, expr2[, expr3, ...])
 515
 516     Create the polyhedron with constraints ``expr1 > expr2 > expr3 ...``.
 517
 518 The following functions combine :class:`Polyhedron` or :class:`Domain` instances using logic operators:
 519
 520 .. function:: And(domain1, domain2[, ...])
 521
 522     Create the intersection domain of the domains given in arguments.
 523
 524 .. function:: Or(domain1, domain2[, ...])
 525
 526     Create the union domain of the domains given in arguments.
 527
 528 .. function:: Not(domain)
 529
 530     Create the complementary domain of the domain given in argument.
 531
 532
 533 Geometric Objects
 534 -----------------
 535
 536 .. class:: GeometricObject
 537
 538     :class:`GeometricObject` is an abstract class to represent objects with a geometric representation in space.
 539     Subclasses of :class:`GeometricObject` are :class:`Polyhedron`, :class:`Domain` and :class:`Point`.
 540     The following elements must be provided:
 541
 542     .. attribute:: symbols
 543
 544         The tuple of symbols present in the object expression, sorted according to :class:`Symbol.sortkey()`.
 545
 546     .. attribute:: dimension
 547
 548         The dimension of the object, i.e. the number of symbols present in it.
 549
 550     .. method:: aspolyedron()
 551
 552         Return a :class:`Polyhedron` object that approximates the geometric object.
 553
 554     .. method:: asdomain()
 555
 556         Return a :class:`Domain` object that approximates the geometric object.
 557
 558 .. class:: Point(coordinates)
 559
 560     Create a point from a dictionary or a sequence that maps the symbols to their coordinates.
 561     Coordinates must be rational numbers.
 562
 563     For example, the point ``(x: 1, y: 2)`` can be constructed using one of the following instructions:
 564
 565     >>> x, y = symbols('x y')
 566     >>> p = Point({x: 1, y: 2})
 567     >>> p = Point([(x, 1), (y, 2)])
 568
 569     :class:`Point` instances are hashable and should be treated as immutable.
 570
 571     A point is a :class:`GeometricObject` instance.
 572
 573     .. attribute:: symbols
 574
 575         The tuple of symbols present in the point, sorted according to :class:`Symbol.sortkey()`.
 576
 577     .. attribute:: dimension
 578
 579         The dimension of the point, i.e. the number of symbols present in it.
 580
 581     .. method:: coordinate(symbol)
 582                 __getitem__(symbol)
 583
 584         Return the coordinate value of the given symbol.
 585         Raise :exc:`KeyError` if the symbol is not involved in the point.
 586
 587     .. method:: coordinates()
 588
 589         Iterate over the pairs ``(symbol, value)`` of coordinates in the point.
 590
 591     .. method:: values()
 592
 593         Iterate over the coordinate values in the point.
 594
 595     .. method:: isorigin()
 596
 597         Return ``True`` if all coordinates are ``0``.
 598
 599     .. method:: __bool__()
 600
 601         Return ``True`` if not all coordinates are ``0``.
 602
 603     .. method:: __add__(vector)
 604
 605         Translate the point by a :class:`Vector` object and return the resulting point.
 606
 607     .. method:: __sub__(point)
 608                 __sub__(vector)
 609
 610         The first version substracts a point from another and returns the resulting vector.
 611         The second version translates the point by the opposite vector of *vector* and returns the resulting point.
 612
 613     .. method:: __eq__(point)
 614
 615         Test whether two points are equal.
 616
 617
 618 .. class:: Vector(coordinates)
 619            Vector(point1, point2)
 620
 621     The first version creates a vector from a dictionary or a sequence that maps the symbols to their coordinates, similarly to :meth:`Point`.
 622     The second version creates a vector between two points.
 623
 624     :class:`Vector` instances are hashable and should be treated as immutable.
 625
 626     .. attribute:: symbols
 627
 628         The tuple of symbols present in the point, sorted according to :class:`Symbol.sortkey()`.
 629
 630     .. attribute:: dimension
 631
 632         The dimension of the point, i.e. the number of symbols present in it.
 633
 634     .. method:: coordinate(symbol)
 635                 __getitem__(symbol)
 636
 637         Return the coordinate value of the given symbol.
 638         Raise :exc:`KeyError` if the symbol is not involved in the point.
 639
 640     .. method:: coordinates()
 641
 642         Iterate over the pairs ``(symbol, value)`` of coordinates in the point.
 643
 644     .. method:: values()
 645
 646         Iterate over the coordinate values in the point.
 647
 648     .. method:: isnull()
 649
 650         Return ``True`` if all coordinates are ``0``.
 651
 652     .. method:: __bool__()
 653
 654         Return ``True`` if not all coordinates are ``0``.
 655
 656     .. method:: __add__(point)
 657                 __add__(vector)
 658
 659         The first version translates the point *point* to the vector and returns the resulting point.
 660         The second version adds vector *vector* to the vector and returns the resulting vector.
 661
 662     .. method:: __sub__(point)
 663                 __sub__(vector)
 664
 665         The first version substracts a point from a vector and returns the resulting point.
 666         The second version returns the difference vector between two vectors.
 667
 668     .. method:: __neg__()
 669
 670         Return the opposite vector.
 671
 672     .. method:: __mul__(value)
 673
 674         Multiply the vector by a scalar value and return the resulting vector.
 675
 676     .. method:: __truediv__(value)
 677
 678         Divide the vector by a scalar value and return the resulting vector.
 679
 680     .. method:: __eq__(vector)
 681
 682         Test whether two vectors are equal.
 683
 684     .. method:: angle(vector)
 685
 686         Retrieve the angle required to rotate the vector into the vector passed in argument.
 687         The result is an angle in radians, ranging between ``-pi`` and ``pi``.
 688
 689     .. method:: cross(vector)
 690
 691         Compute the cross product of two 3D vectors.
 692         If either one of the vectors is not three-dimensional, a :exc:`ValueError` exception is raised.
 693
 694     .. method:: dot(vector)
 695
 696         Compute the dot product of two vectors.
 697
 698     .. method:: norm()
 699
 700         Return the norm of the vector.
 701
 702     .. method:: norm2()
 703
 704         Return the squared norm of the vector.
 705
 706     .. method:: asunit()
 707
 708         Return the normalized vector, i.e. the vector of same direction but with norm 1.