amino.scenegraph.SceneGraph Class Reference

A scene graph. More...

Public Member Functions
def	__init__ (self, ptr=None)
def	__del__ (self)
def	add_frame_fixed (self, parent, name, tf=QuatTrans.identity(), geom=None)
	Adds a new fixed frame to the scene.
def	add_frame_revolute (self, parent, name, tf=QuatTrans.identity(), config_name=None, axis=(0, 0, 1), offset=0, geom=None)
	Adds a new revolute frame to the scene.
def	add_frame_prismatic (self, parent, name, tf=QuatTrans.identity(), config_name=None, axis=(0, 0, 1), offset=0, geom=None, limits=None)
	Adds a new prismatic frame to the scene.
def	remove_frame (self, name)
	Removes a frame from the scene.
def	attach_geom (self, name, geom)
	Attaches geometry to the named frame.
def	reparent (self, new_parent, frame, rel_tf=QuatTrans.identity())
	Change the parent of frame in the scenegraph.
def	load (self, filename, name, root="")
	Loads a scene plugin into this scene. More...
def	init (self)
	Initializes the scene, must be called after all frames are added.
def	allow_collision (self, i, j, allowed=1)
	Set allowed collisions between frames id0 and id1.
def	config_count (self)
	Number of configuration variables in the scene.
def	frame_count (self)
	Number of frames in the scene.
def	config_id (self, name)
	Returns the config id for string name.
def	frame_id (self, name)
	Returns the frame id for string name.
def	config_name (self, i)
	Returns the config name for the id.
def	frame_name (self, i)
	Returns the frame name for the id. More...
def	ensure_config_id (self, value)
	Ensures value is a config id, converting strings if necessary. More...
def	ensure_config_name (self, value)
	Ensures value is a string config name, converting int ids if necessary. More...
def	ensure_frame_id (self, value)
	Ensures value is a frame id, converting strings if necessary. More...
def	ensure_frame_id_actual (self, value)
	Ensures value is a frame id, converting strings if necessary. More...
def	ensure_frame_name (self, value)
	Ensures value is a string frame name, converting int ids if necessary. More...
def	config_vector (self, config, vector=None)
	Create or convert to a configuration vector. More...
def	copy_config (self, config)
	Copy configuration as a vector.
def	config_dict (self, vector)
	Convert vector to a dict.
def	get_parent (self, frame)
	Get the name of the parent of the input frame.
def	__getitem__ (self, key)
	Return a SubSceneGraph for the chain from root to tip. More...
def	copy (self)
	Create a copy of the scenegraph.

Static Public Attributes
	restype
	argtypes

Detailed Description

A scene graph.

Definition at line 335 of file scenegraph.py.

Member Function Documentation

__getitem__()

def amino.scenegraph.SceneGraph.__getitem__	(		self,
			key
	)

Return a SubSceneGraph for the chain from root to tip.

Parameters

key	a slice starting at the root and ending at the tip.

Exceptions

LookupError

invalid slice or frames

Definition at line 619 of file scenegraph.py.

config_vector()

def amino.scenegraph.SceneGraph.config_vector	(		self,
			config,
			vector = None
	)

Create or convert to a configuration vector.

Exceptions

IndexError

provided vector is the wrong size

Definition at line 578 of file scenegraph.py.

ensure_config_id()

def amino.scenegraph.SceneGraph.ensure_config_id	(		self,
			value
	)

Ensures value is a config id, converting strings if necessary.

Exceptions

IndexError	value is out range.
ValueError	config name is invalid.

Definition at line 498 of file scenegraph.py.

ensure_config_name()

def amino.scenegraph.SceneGraph.ensure_config_name	(		self,
			value
	)

Ensures value is a string config name, converting int ids if necessary.

Exceptions

IndexError	value is out of range.
ValueError	config name is invalid.

Definition at line 514 of file scenegraph.py.

ensure_frame_id()

def amino.scenegraph.SceneGraph.ensure_frame_id	(		self,
			value
	)

Ensures value is a frame id, converting strings if necessary.

Exceptions

IndexError	value is out range.
ValueError	frame name is invalid.

Definition at line 531 of file scenegraph.py.

ensure_frame_id_actual()

def amino.scenegraph.SceneGraph.ensure_frame_id_actual	(		self,
			value
	)

Ensures value is a frame id, converting strings if necessary.

   The difference between this function and ensure_frame_id() is
   that this function throws errors if given reserved frame ids,
   FRAME_ROOT and FRAME_NONE.

Exceptions

IndexError

value is out range.

Definition at line 551 of file scenegraph.py.

ensure_frame_name()

def amino.scenegraph.SceneGraph.ensure_frame_name	(		self,
			value
	)

Ensures value is a string frame name, converting int ids if necessary.

Exceptions

IndexError	value is out of range.
ValueError	frame name is invalid.

Definition at line 563 of file scenegraph.py.

frame_name()

def amino.scenegraph.SceneGraph.frame_name	(		self,
			i
	)

Returns the frame name for the id.

Exceptions

IndexError

value is out of range.

Definition at line 485 of file scenegraph.py.

load()

def amino.scenegraph.SceneGraph.load	(		self,
			filename,
			name,
			root = ""
	)

Loads a scene plugin into this scene.

Parameters

filname	plugin name, passed directly to dlopen().
name	scene name, as provided to the scene compiler.
root	parent frame for the loaded scene.

Exceptions

LookupError

the shared object or named scene could not be found.

Definition at line 435 of file scenegraph.py.

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The documentation for this class was generated from the following file:

• /home/ntd/git/amino/python/amino/scenegraph.py