coraplex.view_manager

coraplex.view_manager#

Classes#

ViewManager

Module Contents#

class coraplex.view_manager.ViewManager#

static get_end_effector_view(arm: coraplex.datastructures.enums.Arms, robot_view: semantic_digital_twin.robots.robot_parts.AbstractRobot) → semantic_digital_twin.robots.robot_parts.EndEffector | None#

static get_arm_by_tool_frame(tool_frame: semantic_digital_twin.world_description.world_entity.Body, robot_view: semantic_digital_twin.robots.robot_parts.AbstractRobot) → coraplex.datastructures.enums.Arms | None#

Look up which arm reaches with a given tool frame.

Parameters:

tool_frame – The tool frame to identify.
robot_view – The robot view to search in.

Returns:

The arm whose end effector holds the tool frame, or None when no arm of this robot does.

static get_arm_view(arm: coraplex.datastructures.enums.Arms, robot_view: semantic_digital_twin.robots.robot_parts.AbstractRobot) → semantic_digital_twin.robots.robot_parts.KinematicChain | None#

Get the arm view for a given arm and robot view.

Parameters:

arm – The arm to get the view for.
robot_view – The robot view to search in.

Returns:

The Manipulator object representing the arm.

static get_all_arm_views(arm: coraplex.datastructures.enums.Arms, robot_view: semantic_digital_twin.robots.robot_parts.AbstractRobot) → Tuple[semantic_digital_twin.robots.robot_parts.KinematicChain] | None#

Get all possible arm views for a given arm and robot view.

Parameters:

arm – The arm to get the view for.
robot_view – The robot view to search in.

Returns:

The Manipulator object representing the arm.

static get_neck_view(robot_view: semantic_digital_twin.robots.robot_parts.AbstractRobot) → semantic_digital_twin.robots.robot_parts.Neck | None#

Get the neck view for a given robot view.

Parameters:: robot_view – The robot view to search in.
Returns:: The Neck object representing the neck.