ed.volume
=========

.. py:module:: ed.volume


Classes
-------

.. autoapisummary::

   ed.volume.Volume
   ed.volume.BoxVolume
   ed.volume.CompositeBoxVolume
   ed.volume.OffsetVolume


Functions
---------

.. autoapisummary::

   ed.volume.volume_from_entity_volume_msg
   ed.volume.volumes_from_entity_volumes_msg


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

.. py:class:: Volume

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


   Represents a volume of an entity

   Points are defined relative to the object they belong to

   Constructor


   .. py:property:: center_point
      :type: PyKDL.Vector


      Get the center of the Volume


   .. py:method:: _calc_center_point()
      :abstractmethod:



   .. py:method:: contains(point, padding = 0)
      :abstractmethod:


      Checks if the point is inside this volume

      :param point: kdl Vector w.r.t. the same frame as this volume
      :param padding: Padding to take into account. Positive values make the volume bigger, negative values smaller.
      :return: True if inside, False otherwise



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



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



.. py:class:: BoxVolume(min_corner, max_corner)

   Bases: :py:obj:`Volume`


   Represents a box shaped volume

   Constructor

   Points are defined relative to the object they belong to

   :param min_corner: Vector with the minimum bounding box corner
   :param max_corner: Vector with the maximum bounding box corner


   .. py:attribute:: _min_corner


   .. py:attribute:: _max_corner


   .. py:method:: _calc_center_point()

      Calculate where the center of the box is located

      >>> b = BoxVolume(kdl.Vector(0,0,0), kdl.Vector(1,1,1))
      >>> b.center_point
      [         0.5,         0.5,         0.5]



   .. py:method:: _calc_size()

      Calculate the size of a volume

      >>> BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 1)).size
      1.0
      >>> BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(10, 10, 0.1)).size
      10.0
      >>> BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 10)).size
      10.0



   .. py:property:: min_corner
      :type: PyKDL.Vector



   .. py:property:: max_corner
      :type: PyKDL.Vector



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



   .. py:method:: contains(point, padding = 0)

      Checks if the point is inside this volume

      >>> b = BoxVolume(kdl.Vector(0,0,0), kdl.Vector(1,1,1))
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1))
      True
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1), padding=0.2)
      True
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1), padding=-0.2)
      False
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1))
      False
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1), padding=0.2)
      True
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1), padding=-0.2)
      False

      :param point: Vector w.r.t. the same frame as this volume
      :param padding: Padding to take into account. Positive values make the volume bigger, negative values smaller.
      :return: True if inside, False otherwise



   .. py:method:: __repr__()


.. py:class:: CompositeBoxVolume(boxes)

   Bases: :py:obj:`Volume`


   Represents a composite box shaped volume

   Constructor

   Points are defined relative to the object they belong to.

   :param boxes: list of tuples of two vectors. First one with the minimum bounding box corners,
                       second one with the maximum bounding box corners


   .. py:attribute:: _min_corners


   .. py:attribute:: _max_corners


   .. py:method:: _calc_center_point()

      Calculate where the center of the box is located

      >>> b = CompositeBoxVolume([(kdl.Vector(0,0,0), kdl.Vector(1,1,1))])
      >>> b.center_point
      [         0.5,         0.5,         0.5]



   .. py:property:: min_corner
      :type: PyKDL.Vector



   .. py:property:: max_corner
      :type: PyKDL.Vector



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



   .. py:method:: contains(point, padding = 0)

      Checks if the point is inside this volume

      >>> b = CompositeBoxVolume([(kdl.Vector(0,0,0), kdl.Vector(1,1,1))])
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1))
      True
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1), padding=0.2)
      True
      >>> b.contains(kdl.Vector(0.1, 0.1, 0.1), padding=-0.2)
      False
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1))
      False
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1), padding=0.2)
      True
      >>> b.contains(kdl.Vector(-0.1, -0.1, -0.1), padding=-0.2)
      False

      :param point: Vector w.r.t. the same frame as this volume
      :param padding: Padding to take into account. Positive values make the volume bigger, negative values smaller.
      :return: True if inside, False otherwise



   .. py:method:: __repr__()


.. py:class:: OffsetVolume(offset)

   Bases: :py:obj:`Volume`


   Represents a volume with a certain offset from the convex hull of the entity

   Constructor

   :param offset: Offset [m]


   .. py:attribute:: _offset


   .. py:method:: __repr__()


.. py:function:: volume_from_entity_volume_msg(msg)

   Creates a dict mapping strings to Volumes from the EntityInfo data dictionary

   :param msg: ed_msgs.msg.Volume
   :return: tuple of name and volume object


.. py:function:: volumes_from_entity_volumes_msg(msgs)