ed.volume¶

Classes¶

`Volume`	Represents a volume of an entity
`BoxVolume`	Represents a box shaped volume
`CompositeBoxVolume`	Represents a composite box shaped volume
`OffsetVolume`	Represents a volume with a certain offset from the convex hull of the entity

Functions¶

`volume_from_entity_volume_msg`(msg)	Creates a dict mapping strings to Volumes from the EntityInfo data dictionary
`volumes_from_entity_volumes_msg`(msgs)

Module Contents¶

class ed.volume.Volume[source]¶

Bases: ed.util.equal_hash_mixin.EqualHashMixin

Represents a volume of an entity

Points are defined relative to the object they belong to

Constructor

property center_point: PyKDL.Vector¶

Get the center of the Volume

Return type:: PyKDL.Vector

abstract _calc_center_point()[source]¶

Return type:: PyKDL.Vector

abstract contains(point, padding=0)[source]¶

Checks if the point is inside this volume

Parameters:

point (PyKDL.Vector) – kdl Vector w.r.t. the same frame as this volume
padding (float) – Padding to take into account. Positive values make the volume bigger, negative values smaller.

Returns:

True if inside, False otherwise

Return type:

bool

property size: float¶

Return type:: float

abstract _calc_size()[source]¶

Return type:: float

class ed.volume.BoxVolume(min_corner, max_corner)[source]¶

Bases: Volume

Represents a box shaped volume

Constructor

Points are defined relative to the object they belong to

Parameters:

min_corner (PyKDL.Vector) – Vector with the minimum bounding box corner
max_corner (PyKDL.Vector) – Vector with the maximum bounding box corner

_min_corner¶

_max_corner¶

_calc_center_point()[source]¶

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]

Return type:: PyKDL.Vector

_calc_size()[source]¶

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

Return type:: float

property min_corner: PyKDL.Vector¶

Return type:: PyKDL.Vector

property max_corner: PyKDL.Vector¶

Return type:: PyKDL.Vector

property bottom_area: List[PyKDL.Vector]¶

Return type:: List[PyKDL.Vector]

contains(point, padding=0)[source]¶

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

Parameters:

point (PyKDL.Vector) – Vector w.r.t. the same frame as this volume
padding (float) – Padding to take into account. Positive values make the volume bigger, negative values smaller.

Returns:

True if inside, False otherwise

Return type:

bool

__repr__()[source]¶

class ed.volume.CompositeBoxVolume(boxes)[source]¶

Bases: Volume

Represents a composite box shaped volume

Constructor

Points are defined relative to the object they belong to.

Parameters:: boxes (Iterable[Tuple[PyKDL.Vector, PyKDL.Vector]]) – list of tuples of two vectors. First one with the minimum bounding box corners, second one with the maximum bounding box corners

_min_corners¶

_max_corners¶

_calc_center_point()[source]¶

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]

Return type:: PyKDL.Vector

property min_corner: PyKDL.Vector¶

Return type:: PyKDL.Vector

property max_corner: PyKDL.Vector¶

Return type:: PyKDL.Vector

property bottom_area: List[PyKDL.Vector]¶

Return type:: List[PyKDL.Vector]

contains(point, padding=0)[source]¶

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

Parameters:

point (PyKDL.Vector) – Vector w.r.t. the same frame as this volume
padding (float) – Padding to take into account. Positive values make the volume bigger, negative values smaller.

Returns: