clearpath_config.links.links module

class clearpath_config.links.links.Link(_type: str, name: str)

Bases: object

BOX = 'box'

CYLINDER = 'cylinder'

FRAME = 'frame'

MESH = 'mesh'

SPHERE = 'sphere'

TYPE = {'box': <class 'clearpath_config.links.types.box.Box'>, 'cylinder': <class 'clearpath_config.links.types.cylinder.Cylinder'>, 'frame': <class 'clearpath_config.links.types.frame.Frame'>, 'mesh': <class 'clearpath_config.links.types.mesh.Mesh'>, 'sphere': <class 'clearpath_config.links.types.sphere.Sphere'>}

classmethod assert_type(_type: str) → None

class clearpath_config.links.links.LinkListConfig

Bases: ListConfig[BaseLink, str]

to_dict() → List[dict]

class clearpath_config.links.links.LinksConfig(config: dict = {}, box: List[Box] = [], cylinder: List[Cylinder] = [], frame: List[Frame] = [], mesh: List[Mesh] = [], sphere: List[Mesh] = [])

Bases: BaseConfig

BOX = 'box'

CYLINDER = 'cylinder'

DEFAULTS = {'box': [], 'cylinder': [], 'frame': [], 'mesh': [], 'sphere': []}

FRAME = 'frame'

KEYS = {'box': 'links.box', 'cylinder': 'links.cylinder', 'frame': 'links.frame', 'mesh': 'links.mesh', 'sphere': 'links.sphere'}

LINKS = 'links'

MESH = 'mesh'

SPHERE = 'sphere'

TEMPLATE = {'links': {'box': 'box', 'cylinder': 'cylinder', 'frame': 'frame', 'mesh': 'mesh', 'sphere': 'sphere'}}

add_box(box: Box | None = None, name: str | None = None, size: List[float] = [0.01, 0.01, 0.01], parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_cylinder(cylinder: Cylinder | None = None, name: str | None = None, radius: float = 0.01, length: float = 0.01, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_frame(frame: Frame | None = None, name: str | None = None, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_mesh(mesh: Mesh | None = None, name: str | None = None, visual: dict = '', parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0]) → None

add_sphere(sphere: Sphere | None = None, name: str | None = None, radius: float = 0.01, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0], offset_xyz: List[float] = [0.0, 0.0, 0.0], offset_rpy: List[float] = [0.0, 0.0, 0.0]) → None

property box: LinkListConfig

property cylinder: LinkListConfig

property frame: LinkListConfig

get_all_boxes() → List[Box]

get_all_cylinders() → List[Cylinder]

get_all_frames() → List[Frame]

get_all_links() → List[BaseLink]

get_all_meshes() → List[Mesh]

get_all_spheres() → List[Sphere]

get_box(box: str) → Box

get_cylinder(cylinder: str) → Cylinder

get_frame(frame: str) → Frame

get_mesh(mesh: str) → Mesh

get_sphere(sphere: str) → Sphere

property mesh: LinkListConfig

remove_box(box: Box | str) → None

remove_cylinder(cylinder: Cylinder | str) → None

remove_frame(frame: Frame | str) → None

remove_mesh(mesh: Mesh | str) → None

remove_sphere(sphere: Sphere | str) → None

set_all_boxes(boxes: List[Box]) → None

set_all_cylinders(cylinders: List[Cylinder]) → None

set_all_frames(frames: List[Frame]) → None

set_all_meshes(meshes: List[Mesh]) → None

set_all_spheres(spheres: List[Sphere]) → None

set_box(box: Box) → None

set_cylinder(cylinder: Cylinder) → None

set_frame(frame: Frame) → None

set_mesh(mesh: Mesh) → None

set_sphere(sphere: Sphere) → None

property sphere: LinkListConfig