pycram.datastructures.pose ========================== .. py:module:: pycram.datastructures.pose Attributes ---------- .. autoapisummary:: pycram.datastructures.pose.Point Classes ------- .. autoapisummary:: pycram.datastructures.pose.Vector3 pycram.datastructures.pose.Quaternion pycram.datastructures.pose.Pose pycram.datastructures.pose.Header pycram.datastructures.pose.Vector3Stamped pycram.datastructures.pose.PoseStamped pycram.datastructures.pose.Transform pycram.datastructures.pose.TransformStamped pycram.datastructures.pose.GraspPose Module Contents --------------- .. py:class:: Vector3 Bases: :py:obj:`pycram.has_parameters.HasParameters` A 3D vector with x, y and z coordinates. .. py:attribute:: x :type: float :value: 0 .. py:attribute:: y :type: float :value: 0 .. py:attribute:: z :type: float :value: 0 .. py:method:: euclidean_distance(other: typing_extensions.Self) -> float The euclidian distance between this vector and another vector. :param other: The other vector to calculate the distance to. :return: The euclidian distance .. py:method:: ros_message() Convert the vector to a ROS message of type Vector3. :return: The ROS message. .. py:method:: to_list() -> typing_extensions.List[float] Convert the vector to a list. :return: A list containing the x, y and z coordinates. .. py:method:: to_spatial_type(reference_frame: semantic_digital_twin.world_description.world_entity.Body = None) -> semantic_digital_twin.spatial_types.spatial_types.Vector3 .. py:method:: round(decimals: int = 4) Rounds the coordinates of the vector to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: almost_equal(other: typing_extensions.Self, tolerance: float = 1e-06) -> bool Check if two vectors are almost equal within a given tolerance. :param other: The other vector to compare to. :param tolerance: The tolerance for the comparison as number of decimal places. :return: True if the vectors are almost equal, False otherwise. .. py:method:: vector_to_position(other: typing_extensions.Self) -> Vector3 Calculates a vector from this vector to another vector. :param other: The vector to calculate the vector to. :return: A new vector between this vector and the other vector. .. py:method:: to_numpy() -> numpy.ndarray Convert the vector to a numpy array. :return: A numpy array containing the x, y and z coordinates. .. py:method:: __add__(other: typing_extensions.Self) -> Vector3 Adds two vectors together. :param other: The other vector to add. :return: A new vector that is the sum of this vector and the other vector. .. py:method:: __sub__(other: typing_extensions.Self) -> Vector3 Subtracts two vectors. :param other: The other vector to subtract. :return: A new vector that is the difference of this vector and the other vector. .. py:method:: __mul__(other: float) -> Vector3 Multiplies the vector by a scalar. :param other: The scalar to multiply by. :return: A new vector that is the product of this vector and the scalar. .. py:method:: __rmul__(other: float) -> Vector3 Multiplies the vector by a scalar (right multiplication). :param other: The scalar to multiply by. :return: A new vector that is the product of this vector and the scalar. .. py:method:: from_list(vector: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Vector3 from a list of coordinates. :param vector: The list of coordinates. :return: A new Vector3 object. .. py:class:: Quaternion Bases: :py:obj:`pycram.has_parameters.HasParameters` A quaternion with x, y, z and w components. .. py:attribute:: x :type: float :value: 0 .. py:attribute:: y :type: float :value: 0 .. py:attribute:: z :type: float :value: 0 .. py:attribute:: w :type: float :value: 1 .. py:method:: __post_init__() .. py:method:: normalize() Normalize the quaternion in-place. .. py:method:: ros_message() .. py:method:: to_list() -> typing_extensions.List[float] Convert the quaternion to a list. :return: A list containing the x, y, z and w components. .. py:method:: to_numpy() -> numpy.ndarray Convert the quaternion to a numpy array. :return: A numpy array containing the x, y, z and w components. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.Quaternion Convert the quaternion to a SpatialQuaternion. :return: A SpatialQuaternion object containing the x, y, z and w components. .. py:method:: round(decimals: int = 4) Rounds the components of the quaternion to the specified number of decimal places. :param decimals: The number of decimal places to round to. .. py:method:: almost_equal(other: typing_extensions.Self, tolerance: float = 1e-06) -> bool Check if two quaternions are almost equal within a given tolerance. :param other: The other quaternion to compare to. :param tolerance: The tolerance for the comparison as number of decimal places. :return: True if the quaternions are almost equal, False otherwise. .. py:method:: __mul__(other: typing_extensions.Self) -> Quaternion Multiplies two quaternions together. :param other: The other quaternion to multiply with. :return: A new quaternion that is the product of this quaternion and the other quaternion. .. py:method:: from_list(quaternion: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Quaternion from a list of components. :param quaternion: A list of components [x, y, z, w]. :return: A new Quaternion object. .. py:method:: from_matrix(matrix: numpy.ndarray) -> typing_extensions.Self :classmethod: Create a Quaternion from a 3x3 rotation matrix. :param matrix: A 3x3 rotation matrix as numpy array. :return: A Quaternion object created from the matrix. .. py:method:: __eq__(other) .. py:class:: Pose Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space. .. py:attribute:: position :type: Vector3 .. py:attribute:: orientation :type: Quaternion .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type Pose. :return: The ROS message. .. py:method:: to_list() Convert the pose to a list of [position, orientation]. :return: A list containing the position and orientation of this pose. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: The number of decimal places to round to. .. py:method:: almost_equal(other: Pose, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two poses are almost equal within given tolerances for position and orientation. :param other: The other pose to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the poses are almost equal, False otherwise. .. py:method:: __eq__(other: typing_extensions.Self) -> bool Check if two poses are equal. Uses almost_equal with a tolerance of 1e-4 for both position and orientation. :param other: The other pose to compare to. :return: True if the poses are equal, False otherwise. .. py:method:: from_matrix(matrix: numpy.ndarray) -> typing_extensions.Self :classmethod: Create a Pose from a 4x4 transformation matrix. :param matrix: A 4x4 transformation matrix as numpy array. :return: A pose object created from the matrix. .. py:method:: from_list(position: typing_extensions.List[float], orientation: typing_extensions.List[float]) -> typing_extensions.Self :classmethod: Factory to create a Pose from a list of position and orientation. :param position: List of position [x, y, z]. :param orientation: List of orientation [x, y, z, w]. :return: A new Pose object. .. py:class:: Header A header with a timestamp. .. py:attribute:: frame_id :type: semantic_digital_twin.world_description.world_entity.Body :value: None .. py:attribute:: stamp :type: datetime.datetime .. py:attribute:: sequence :type: int :value: 0 .. py:method:: ros_message() Convert the header to a ROS message of type Header. :return: The ROS message. .. py:method:: __deepcopy__(memo) .. py:class:: Vector3Stamped Bases: :py:obj:`Vector3` A Vector3 with an attached ROS Header (timestamp and frame). Inherits all vector operations and adds frame/time metadata. .. py:attribute:: header :type: Header .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert to a ROS Vector3Stamped message. :return: The ROS message. .. py:method:: from_ros_message(message) :classmethod: Create a Vector3Stamped from a ROS message. :param message: The Vector3Stamped ROS message. :return: A new Vector3Stamped object. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.Vector3 .. py:class:: PoseStamped Bases: :py:obj:`pycram.has_parameters.HasParameters` A pose in 3D space with a timestamp. .. py:attribute:: pose :type: Pose .. py:attribute:: header :type: Header .. py:property:: position .. py:property:: orientation .. py:property:: frame_id .. py:method:: __repr__() .. py:method:: ros_message() Convert the pose to a ROS message of type PoseStamped. :return: The ROS message. .. py:method:: from_ros_message(message: ROSPoseStamped) -> typing_extensions.Self :classmethod: Create a PoseStamped from a ROS message. :param message: The PoseStamped ROS message. :return: A new PoseStamped object created from the ROS message. .. py:method:: from_list(position: typing_extensions.Optional[typing_extensions.List[float]] = None, orientation: typing_extensions.Optional[typing_extensions.List[float]] = None, frame: typing_extensions.Optional[semantic_digital_twin.world_description.world_entity.Body] = None) -> typing_extensions.Self :classmethod: Factory to create a PoseStamped from a list of position and orientation. :param position: Position as a list of [x, y, z]. :param orientation: Orientation as a list of [x, y, z, w]. :param frame: Frame in which the pose is defined. :return: A new PoseStamped object. .. py:method:: from_matrix(matrix: numpy.ndarray, frame: semantic_digital_twin.world_description.world_entity.Body) -> typing_extensions.Self :classmethod: Create a PoseStamped from a 4x4 transformation matrix and a frame. :param matrix: A 4x4 transformation matrix as numpy array. :param frame: The frame in which the pose is defined. :return: A PoseStamped object created from the matrix and frame. .. py:method:: from_spatial_type(spatial_type: semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix) -> typing_extensions.Self :classmethod: Create a PoseStamped from a SpatialTransformationMatrix and a frame. :param spatial_type: A SpatialTransformationMatrix object. :return: A PoseStamped object created from the spatial type and frame. .. py:method:: to_transform_stamped(child_link_id: semantic_digital_twin.world_description.world_entity.Body) -> TransformStamped Converts the PoseStamped to a TransformStamped given a frame to which the transform is pointing. :param child_link_id: Frame to which the transform is pointing. :return: A TransformStamped object. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix Converts the PoseStamped to a SpatialTransformationMatrix. :return: A SpatialTransformationMatrix object representing the pose in 3D space. .. py:method:: round(decimals: int = 4) Rounds the components of the pose (position and orientation) to the specified number of decimal places. :param decimals: Number of decimal places to round to. .. py:method:: to_list() Convert the pose to a list of [position, orientation, frame_id]. :return: A list of [pose, frame_id]. .. py:method:: almost_equal(other: PoseStamped, position_tolerance: float = 1e-06, orientation_tolerance: float = 1e-05) -> bool Check if two PoseStamped objects are almost equal within given tolerances for position and orientation and if the frame_id is the same. :param other: The other PoseStamped object to compare to. :param position_tolerance: Tolerance for position comparison as number of decimal places. :param orientation_tolerance: Tolerance for orientation comparison as number of decimal places. :return: True if the PoseStamped objects are almost equal, False otherwise. .. py:method:: rotate_by_quaternion(quaternion: typing_extensions.List[float]) Rotates the orientation of the pose by a given quaternion. :param quaternion: A list representing the quaternion [x, y, z, w]. .. py:method:: is_facing_2d_axis(pose_b: PoseStamped, axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier] = AxisIdentifier.X, threshold_deg=82) -> typing_extensions.Tuple[bool, float] Check if this pose is facing another pose along a specific axis (X or Y) within a given angular threshold. :param pose_b: The target pose to compare against. :param axis: The axis to check alignment with ('x' or 'y'). Defaults to 'x'. :param threshold_deg: The maximum angular difference in degrees to consider as 'facing'. Defaults to 82 degrees. :return: Tuple of (True/False if facing, signed angular difference in radians). .. py:method:: is_facing_x_or_y(pose_b: PoseStamped) -> bool Check if this pose is facing another pose along either the X or Y axis within a default angular threshold. :param pose_b: The target pose to compare against. :return: True if this pose is facing the target along either X or Y axis, False otherwise. .. py:class:: Transform Bases: :py:obj:`Pose` A pose in 3D space. .. py:property:: translation .. py:property:: rotation .. py:method:: to_matrix() -> numpy.ndarray Converts the transform to a 4x4 transformation matrix. :return: A numpy array representing the transformation matrix. .. py:method:: __invert__() -> Transform Inverts the transform, returning a new Transform object. :return: The inverted Transform object. .. py:method:: __mul__(other: Transform) -> Transform Multiplies two transforms together, returning a new Transform object. :param other: The other Transform object to multiply with. :return: A new Transform object that is the product of this transform and the other transform. .. py:method:: from_pose(pose: Pose) -> typing_extensions.Self :classmethod: Create a Transform from a Pose object. :param pose: The pose to convert to a Transform. :return: A new Transform object created from the Pose. .. py:method:: ros_message() Convert the transform to a ROS message of type Transform. :return: The ROS message. .. py:class:: TransformStamped Bases: :py:obj:`PoseStamped` A pose in 3D space with a timestamp. .. py:attribute:: child_frame_id :type: semantic_digital_twin.world_description.world_entity.Body :value: '' Target frame id of the transform. .. py:attribute:: pose :type: Transform The transform of the transform. .. py:property:: transform :type: Transform .. py:property:: translation .. py:property:: rotation .. py:method:: __invert__() -> typing_extensions.Self Inverts the transform, returning a new TransformStamped object which points from child_frame_id to frame_id. :return: A new TransformStamped object that is the inverse of this transform. .. py:method:: __mul__(other) -> typing_extensions.Self Multiplies two TransformStamped objects together, returning a new TransformStamped object. :param other: The other TransformStamped object to multiply with. :return: A new TransformStamped object that is the product of this transform and the other transform. .. py:method:: __deepcopy__(memo) .. py:method:: from_list(translation: typing_extensions.List[float] = None, rotation: typing_extensions.List[float] = None, frame: semantic_digital_twin.world_description.world_entity.Body = None, child_frame_id: semantic_digital_twin.world_description.world_entity.Body = None) -> typing_extensions.Self :classmethod: Factory to create a TransformStamped from a list of position and orientation. :param translation: Translation as a list of [x, y, z]. :param rotation: Rotation as a list of [x, y, z, w]. :param frame: Original frame in which the transform is defined. :param child_frame_id: Target frame id of the transform. :return: A new TransformStamped object. .. py:method:: ros_message() Convert the TransformStamped to a ROS message of type TransformStamped. :return: The ROS message. .. py:method:: to_pose_stamped() -> PoseStamped Converts the TransformStamped to a PoseStamped object. :return: A PoseStamped object created from the TransformStamped. .. py:method:: to_spatial_type() -> semantic_digital_twin.spatial_types.spatial_types.TransformationMatrix Converts the TransformStamped to a SpatialTransformationMatrix. :return: A SpatialTransformationMatrix object representing the transform in 3D space. .. py:method:: inverse_times(other: TransformStamped) -> typing_extensions.Self Multiply this TransformStamped by the inverse of another TransformStamped. Essentially, this is the same as "subtracting" another TransformStamped from this one. :param other: The other TransformStamped to subtract. :return: A new TransformStamped object that is the result of this transform minus the other transform. .. py:class:: GraspPose Bases: :py:obj:`PoseStamped` A pose from which a grasp can be performed along with the respective arm and grasp description. .. py:attribute:: arm :type: pycram.datastructures.enums.Arms :value: None Arm corresponding to the grasp pose. .. py:attribute:: grasp_description :type: pycram.datastructures.grasp.GraspDescription :value: None Grasp description corresponding to the grasp pose. .. py:data:: Point