ed.world_model

Classes

WM

Module Contents

class ed.world_model.WM(tf_buffer=None, ns=None)

Parameters:

ns (str) –

_ed_simple_query_srv

_ed_update_srv

_ed_configure_srv

_ed_reset_srv

static create_service_client(name, srv_type)

Creates a service client

Parameters:

• name (str) – string with the name of the service in the correct namespace

• srv_type (type) – service type

Returns:

the service client

get_entities(center_point, etype='', radius=float('inf'), uuid='', ignore_z=False)

Get entities via Simple Query interface

Parameters:

• etype (str) – Type of entity

• center_point (pykdl_ros.VectorStamped) – Point from which radius is measured

• radius (float) – Distance between center_point and entity

• uuid (str) – uuid of entity

• ignore_z (bool) – Consider only the distance in the X,Y plane for the radius from center_point

Return type:

List[ed.entity.Entity]

get_closest_entity(center_point, etype='', radius=float('inf'))

Parameters:

• center_point (pykdl_ros.VectorStamped) –

• etype (str) –

• radius (float) –

Return type:

Optional[ed.entity.Entity]

get_closest_room(center_point, radius=float('inf'))

Parameters:

• center_point (pykdl_ros.VectorStamped) –

• radius (float) –

Return type:

ed.entity.Entity

get_entity(uuid)

Parameters:

uuid (str) –

Return type:

Optional[ed.entity.Entity]

update_entity(uuid, etype=None, frame_stamped=None, flags=None, add_flags=None, remove_flags=None, action=None)

Updates entity

Parameters:

• uuid (str) – entity uuid

• etype (str) – entity type

• frame_stamped (pykdl_ros.FrameStamped) – If specified, the entity is updated to be at this FrameStamped

• 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”

• add_flags (List[str]) – list of flags which will be added to the specified entity

• remove_flags (List[str]) – list of flags which will removed from the specified entity

• action (str) – update_action, e.g. remove

Return type:

bool

remove_entity(uuid)

Removes entity with the provided uuid to the world model

Parameters:

uuid (str) – string with the uuid of the entity to remove

Return type:

bool

lock_entities(lock_ids, unlock_ids)

Parameters:

• lock_ids (List[str]) –

• unlock_ids (List[str]) –

get_closest_possible_person_entity(center_point, radius=float('inf'))

Returns the “possible_human” entity closest to a certain center point.

Parameters:

• center_point (pykdl_ros.VectorStamped) – Point indicating where the human should be close to; frame_id should be map

• radius (float) – (float) radius to look for possible humans

Returns:

(Entity) entity (if found), None otherwise

Return type:

Optional[ed.entity.Entity]

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

Parameters:

short_uuid (str) –

Return type:

Iterable[str]