`pycram.orm.base`

Implementation of base classes for orm modelling.

Module Contents

Classes

`_Base`	Dummy class
`Base`	Base class to add orm functionality to all pycram mappings
`MapperArgsMixin`	MapperArgsMixin stores __mapper_args__ information for certain subclass-tables.
`PositionMixin`	PositionMixin holds a foreign key column and its relationship to the referenced table.
`QuaternionMixin`	QuaternionMixin holds a foreign key column and its relationship to the referenced table.
`PoseMixin`	PoseMixin holds a foreign key column and its relationship to the referenced table.
`ProcessMetaData`	ProcessMetaData stores information about the context of this experiment.
`Designator`	ORM Class holding every performed action and motion serving as every actions and motions root.
`Position`	ORM Class for 3D positions.
`Quaternion`	ORM Class for Quaternions.
`Pose`	ORM Class for Poses.
`Color`	ORM Class for Colors.
`RobotState`	ORM Representation of a robots state.

Functions

get_pycram_version_from_git(→ Optional[str])

Get the PyCRAM commit hash that is used to run this version.

pycram.orm.base.get_pycram_version_from_git() → str | None

Get the PyCRAM commit hash that is used to run this version.

This assumes that you have gitpython installed and that the PyCRAM git repository on your system can be found with “roscd pycram”.

class pycram.orm.base._Base

Bases: sqlalchemy.orm.DeclarativeBase, sqlalchemy.orm.MappedAsDataclass

Dummy class

type_annotation_map

id: sqlalchemy.orm.Mapped[int]: Unique integer ID as auto incremented primary key.

__tablename__()

class pycram.orm.base.Base

Bases: _Base

Base class to add orm functionality to all pycram mappings

__abstract__ = True

process_metadata_id() → sqlalchemy.orm.Mapped[int]

process_metadata()

class pycram.orm.base.MapperArgsMixin

Bases: sqlalchemy.orm.MappedAsDataclass

MapperArgsMixin stores __mapper_args__ information for certain subclass-tables. For information about Mixins, see https://docs.sqlalchemy.org/en/20/orm/declarative_mixins.html

__abstract__ = True

__mapper_args__()

class pycram.orm.base.PositionMixin

Bases: sqlalchemy.orm.MappedAsDataclass

PositionMixin holds a foreign key column and its relationship to the referenced table. For information about Mixins, see https://docs.sqlalchemy.org/en/20/orm/declarative_mixins.html

__abstract__ = True

position_to_init: bool

position_id() → sqlalchemy.orm.Mapped[int]

position()

class pycram.orm.base.QuaternionMixin

Bases: sqlalchemy.orm.MappedAsDataclass

QuaternionMixin holds a foreign key column and its relationship to the referenced table. For information about Mixins, see https://docs.sqlalchemy.org/en/20/orm/declarative_mixins.html

__abstract__ = True

orientation_to_init: bool

orientation_id() → sqlalchemy.orm.Mapped[int]

orientation()

class pycram.orm.base.PoseMixin

Bases: sqlalchemy.orm.MappedAsDataclass

PoseMixin holds a foreign key column and its relationship to the referenced table. For information about Mixins, see https://docs.sqlalchemy.org/en/20/orm/declarative_mixins.html

__abstract__ = True

pose_to_init: bool

pose_id() → sqlalchemy.orm.Mapped[int]

pose()

class pycram.orm.base.ProcessMetaData

Bases: _Base

ProcessMetaData stores information about the context of this experiment.

This class is a singleton and only one MetaData can exist per session.

created_at: sqlalchemy.orm.Mapped[datetime.datetime]: The timestamp where this row got created. This is an aid for versioning.

created_by: sqlalchemy.orm.Mapped[str]: The user that created the experiment.

description: sqlalchemy.orm.Mapped[str]: A description of the purpose (?) of this experiment.

pycram_version: sqlalchemy.orm.Mapped[str]: The PyCRAM version used to generate this row.

_self: The singleton instance.

committed(): Return if this object is in the database or not.

insert(session: sqlalchemy.orm.Session): Insert this into the database using the session. Skipped if it already is inserted.

classmethod reset(): Reset the singleton instance to None, s. t. next time the class is called a new instance is created.

class pycram.orm.base.Designator

Bases: Base

ORM Class holding every performed action and motion serving as every actions and motions root.

dtype() → sqlalchemy.orm.Mapped[str]

__mapper_args__()

class pycram.orm.base.Position

Bases: Base

ORM Class for 3D positions.

x: sqlalchemy.orm.Mapped[float]

y: sqlalchemy.orm.Mapped[float]

z: sqlalchemy.orm.Mapped[float]

class pycram.orm.base.Quaternion

Bases: Base

ORM Class for Quaternions.

x: sqlalchemy.orm.Mapped[float]

y: sqlalchemy.orm.Mapped[float]

z: sqlalchemy.orm.Mapped[float]

w: sqlalchemy.orm.Mapped[float]

class pycram.orm.base.Pose

Bases: PositionMixin, QuaternionMixin, Base

ORM Class for Poses.

time: sqlalchemy.orm.Mapped[datetime.datetime]

frame: sqlalchemy.orm.Mapped[str]

class pycram.orm.base.Color

Bases: Base

ORM Class for Colors.

r: sqlalchemy.orm.Mapped[float]

g: sqlalchemy.orm.Mapped[float]

b: sqlalchemy.orm.Mapped[float]

alpha: sqlalchemy.orm.Mapped[float]

class pycram.orm.base.RobotState

Bases: PoseMixin, Base

ORM Representation of a robots state.

torso_height: sqlalchemy.orm.Mapped[float]: The torso height of the robot.

type: sqlalchemy.orm.Mapped[pycram.datastructures.enums.ObjectType]: The type of the robot.

pycram.orm.base

Module Contents

Classes

Functions

`pycram.orm.base`