semantic_world.world_description.world_state

Classes

WorldStateView	Returned if you access members in WorldState.
WorldState	Tracks the state of all DOF in the world.

Module Contents

class semantic_world.world_description.world_state.WorldStateView(data: numpy.ndarray)

Returned if you access members in WorldState. Provides a more convenient interface to the data of a single DOF.

data

property position: float

property velocity: float

property acceleration: float

property jerk: float

class semantic_world.world_description.world_state.WorldState

Bases: typing_extensions.MutableMapping

Tracks the state of all DOF in the world. Data is stored in a 4xN numpy array, such that it can be used as input for compiled functions without copying.

This class adds a few convenience methods for manipulating this data.

data: numpy.ndarray

keys() → typing_extensions.List[semantic_world.datastructures.prefixed_name.PrefixedName]

items() → typing_extensions.List[tuple[semantic_world.datastructures.prefixed_name.PrefixedName, numpy.ndarray]]

values() → typing_extensions.List[numpy.ndarray]

to_position_dict() → typing_extensions.Dict[semantic_world.datastructures.prefixed_name.PrefixedName, float]

property positions: numpy.ndarray

property velocities: numpy.ndarray

property accelerations: numpy.ndarray

property jerks: numpy.ndarray

get_derivative(derivative: semantic_world.spatial_types.derivatives.Derivatives) → numpy.ndarray

Retrieve the data for a whole derivative row.

set_derivative(derivative: semantic_world.spatial_types.derivatives.Derivatives, new_state: numpy.ndarray)

Overwrite the data for a whole derivative row. Assums that the order of the DOFs is consistent.