ed.entity
=========

.. py:module:: ed.entity


Classes
-------

.. autoapisummary::

   ed.entity.Entity
   ed.entity.PersonProperties


Functions
---------

.. autoapisummary::

   ed.entity.from_entity_info


Module Contents
---------------

.. py:class:: Entity(identifier, object_type, frame_id, pose, shape, volumes, super_types, last_update_time, person_properties=None)

   Bases: :py:obj:`ed.util.equal_hash_mixin.EqualHashMixin`


   Holds all data concerning entities

   Constructor

   :param identifier: str with the id of this entity
   :param object_type: str with the type of this entity
   :param frame_id: str frame id w.r.t. which the pose is defined
   :param pose: kdl.Frame with the pose of this entity
   :param shape: Shape of this entity
   :param volumes: dict mapping strings to Volume
   :param super_types: list with strings representing super types in an ontology of object types
   :param last_update_time: Time of last update


   .. py:attribute:: uuid


   .. py:attribute:: etype


   .. py:attribute:: frame_id


   .. py:attribute:: _pose


   .. py:attribute:: shape


   .. py:attribute:: _volumes


   .. py:attribute:: super_types


   .. py:attribute:: _last_update_time


   .. py:attribute:: _person_properties
      :value: None



   .. py:property:: volumes


   .. py:method:: in_volume(point, volume_id, padding = 0)

      Checks if the point is in the volume identified by the volume id

      :param point: VectorStamped with the point to check
      :param volume_id: string with the volume
      :param padding: Padding to take into account. Positive values make the volume bigger, negative values smaller.
      :return: boolean indicating whether the point is in the designated volume. If an error occurs, False is returned



   .. py:method:: entities_in_volume(entities, volume_id)

      Filter the collection of entities down to only those in the given volume

      :param entities: collection/sequence of entities
      :param volume_id: volume these entities need to be in
      :return: entities that are both in the given volume and in the list 'entities'



   .. py:property:: last_update_time


   .. py:method:: distance_to_2d(point)

      Calculate the distance between this entity's pose and the given point.

      :param point: Assumed to be in the same frame_id as the entity itself
      :return: the distance between the entity's pose and the point

      >>> pose = kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3))
      >>> e = Entity("dummy", None, "map", pose, None, {}, None, rospy.Time())
      >>> point = kdl.Vector(1, 1, 1)
      >>> e.distance_to_2d(point)
      2.8284271247461903



   .. py:method:: distance_to_3d(point)

      Calculate the distance between this entity's pose and the given point.

      :param point: Assumed to be in the same frame_id as the entity itself
      :return: the distance between the entity's pose and the point

      >>> pose = kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3))
      >>> e = Entity("dummy", None, "map", pose, None, {}, None, rospy.Time())
      >>> point = kdl.Vector(1, 1, 1)
      >>> e.distance_to_3d(point)
      3.4641016151377544



   .. py:method:: is_a(super_type)

      Check whether the entity is a (subclass of) some supertype

      :param super_type: Representing the name of the super_type
      :return: True if the entity is a (sub)type of the given super_type

      >>> e = Entity("dummy", "coffee_table", None, None, None, {}, ["coffee_table", "table", "furniture", "thing"], 0)
      >>> e.is_a("furniture")
      True
      >>> e.is_a("food")
      False



   .. py:property:: pose
      :type: pykdl_ros.FrameStamped


      Returns the pose of the Entity as a FrameStamped


   .. py:property:: person_properties
      :type: Optional[PersonProperties]



   .. py:method:: __repr__()


.. py:class:: PersonProperties(name, age, emotion, gender, gender_confidence, pointing_pose, posture, reliability, shirt_colors, tags, tagnames, velocity, parent_entity)

   Bases: :py:obj:`object`


   
   Container for several properties related to a person

   :param name: the person's name. This is separate from the entity, which is unique while this doesn't have to be
   :param age: Estimated age of the person
   :param emotion: Indicating the emotion
   :param gender: Predicted gender of the person
   :param gender_confidence: Confidence of the classifier in the gender above.
   :param pointing_pose: In which direction is the person pointing
   :param posture: String with a value like 'sitting', 'laying', 'standing' etc.
   :param reliability:  ToDO
   :param shirt_colors: list of 3 shirt colors, sorted from most dominant to less dominant
   :param tags: Other tags
   :param tagnames: Other tagnames
   :param velocity: Velocity with which the person in moving
   :param parent_entity: The Entity that these properties belong to


   .. py:attribute:: _name


   .. py:attribute:: age


   .. py:attribute:: emotion


   .. py:attribute:: gender


   .. py:attribute:: gender_confidence


   .. py:attribute:: pointing_pose


   .. py:attribute:: posture


   .. py:attribute:: reliability


   .. py:attribute:: shirt_colors


   .. py:attribute:: tags


   .. py:attribute:: tagnames


   .. py:attribute:: velocity


   .. py:attribute:: _parent_entity


   .. py:property:: name
      :type: str



   .. py:method:: __repr__()


.. py:function:: from_entity_info(e)

   Converts ed_msgs.msg.EntityInfo to an Entity

   :param e: ed_msgs.msg.EntityInfo
   :return: Entity