ed.shape
========

.. py:module:: ed.shape


Classes
-------

.. autoapisummary::

   ed.shape.Shape
   ed.shape.RightPrism


Functions
---------

.. autoapisummary::

   ed.shape.shape_from_entity_info


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

.. py:class:: Shape

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


   Represents shape properties


   .. py:property:: convex_hull
      :type: List[PyKDL.Vector]



   .. py:method:: _calc_convex_hull()
      :abstractmethod:



   .. py:property:: size
      :type: float



   .. py:method:: _calc_size()
      :abstractmethod:



   .. py:property:: x_min
      :type: float



   .. py:method:: _calc_x_min()
      :abstractmethod:



   .. py:property:: x_max
      :type: float



   .. py:method:: _calc_x_max()
      :abstractmethod:



   .. py:property:: y_min
      :type: float



   .. py:method:: _calc_y_min()
      :abstractmethod:



   .. py:property:: y_max
      :type: float



   .. py:method:: _calc_y_max()
      :abstractmethod:



   .. py:property:: z_min
      :type: float



   .. py:method:: _calc_z_min()
      :abstractmethod:



   .. py:property:: z_max
      :type: float



   .. py:method:: _calc_z_max()
      :abstractmethod:



.. py:class:: RightPrism(convex_hull, z_min, z_max)

   Bases: :py:obj:`Shape`


   Represents a right prism, i.e., a  prism in which the joining edges and faces are perpendicular to the base
   faces. This is typical for the shapes resulting from the convex hull, z min and z max of EntityInfo

   Constructor

   :param convex_hull: list with vectors representing the vertices of the convex hull. N.B.: these should only
       contain x and y values, the z-values are not relevant (the height information is contained in the z_min
       and z_max parameters).
   :param z_min: Minimum height [m] w.r.t. the center of the corresponding Entity
   :param z_max: Maximum height [m] w.r.t. the center of the corresponding Entity


   .. py:attribute:: _convex_hull


   .. py:attribute:: _z_min


   .. py:attribute:: _z_max


   .. py:method:: _calc_x_max()


   .. py:method:: _calc_x_min()


   .. py:method:: _calc_y_max()


   .. py:method:: _calc_y_min()


   .. py:method:: _calc_z_max()


   .. py:method:: _calc_z_min()


   .. py:method:: _calc_convex_hull()


   .. py:method:: _calc_size()

      Calculate the rough size of a shape
      >>> RightPrism([kdl.Vector(0, 0, 0), kdl.Vector(0, 1, 0), kdl.Vector(1, 1, 0), kdl.Vector(1, 0, 0)], z_min=0, z_max=1).size
      1.0
      >>> RightPrism([kdl.Vector(0, 0, 0), kdl.Vector(0, 2, 0), kdl.Vector(2, 2, 0), kdl.Vector(2, 0, 0)], z_min=0, z_max=2).size
      8.0



.. py:function:: shape_from_entity_info(e)

   Creates a shape from the convex_hull, z_min and z_max of the EntityInfo object. If no convex hull is present,
   an empty Shape object is returned

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