ed.world_model
==============

.. py:module:: ed.world_model


Classes
-------

.. autoapisummary::

   ed.world_model.WM


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

.. py:class:: WM(tf_buffer=None, ns = None)

   .. py:attribute:: _ed_simple_query_srv


   .. py:attribute:: _ed_update_srv


   .. py:attribute:: _ed_configure_srv


   .. py:attribute:: _ed_reset_srv


   .. py:method:: create_service_client(name, srv_type)
      :staticmethod:


      Creates a service client

      :param name: string with the name of the service in the correct namespace
      :param srv_type: service type
      :return: the service client



   .. py:method:: get_entities(center_point, etype = '', radius = float('inf'), uuid = '', ignore_z = False)

      Get entities via Simple Query interface

      :param etype: Type of entity
      :param center_point: Point from which radius is measured
      :param radius: Distance between center_point and entity
      :param uuid: uuid of entity
      :param ignore_z: Consider only the distance in the X,Y plane for the radius from center_point



   .. py:method:: get_closest_entity(center_point, etype = '', radius = float('inf'))


   .. py:method:: get_closest_room(center_point, radius = float('inf'))


   .. py:method:: get_entity(uuid)


   .. py:method:: update_entity(uuid, etype = None, frame_stamped = None, flags=None, add_flags = None, remove_flags = None, action = None)

      Updates entity

      :param uuid: entity uuid
      :param etype: entity type
      :param frame_stamped: If specified, the entity is updated to be at this FrameStamped
      :param flags: (OBSOLETE, use add_flags and remove_flags): (list of) dict(s) containing key "add" or "remove" and value of the flag to set,  e.g., "perception"
      :param add_flags: list of flags which will be added to the specified entity
      :param remove_flags: list of flags which will removed from the specified entity
      :param action: update_action, e.g. remove



   .. py:method:: remove_entity(uuid)

      Removes entity with the provided uuid to the world model

      :param uuid: string with the uuid of the entity to remove



   .. py:method:: lock_entities(lock_ids, unlock_ids)


   .. py:method:: get_closest_possible_person_entity(center_point, radius = float('inf'))

      Returns the "possible_human" entity closest to a certain center point.

      :param center_point: Point indicating where the human should be close to; frame_id should be map
      :param radius: (float) radius to look for possible humans
      :return: (Entity) entity (if found), None otherwise



   .. py:method:: get_full_uuid(short_uuid)

      Get an entity"s full uuid based on the first characters of its uuid like you can do with git hashes