components.structure.common package

Submodules

components.structure.common.common module

Common Module contains code shared by robotics and machine vision toolboxes

components.structure.common.common.create_homogeneous_transform_from_point(p)

Create a homogeneous transform to move to a given point

Parameters:p (numpy.ndarray) – The (x, y, z) point we want our homogeneous tranform to move to Returns:4x4 Homogeneous Transform of a point Return type:numpy.matrix

components.structure.common.common.create_point_from_homogeneous_transform(T)

Create a point from a homogeneous transform

Parameters:T (numpy matrix) – The 4x4 homogeneous transform Returns:The (x, y, z) coordinates of a point from a transform Return type:np.ndarray

components.structure.common.common.flip_base(ee_pos, direction, value, animation=False)

components.structure.common.common.get_rotation_from_homogeneous_transform(transform)

Extract the rotation section of the homogeneous transformation

Parameters:transform (numpy.ndarray) – The 4x4 homogeneous transform to extract the rotation matrix from. Returns:3x3 Rotation Matrix Return type:numpy.matrix

components.structure.common.common.ishomog(tr, dim, rtest='')

ISHOMOG Test if SE(3) homogeneous transformation matrix. ISHOMOG(T) is true if the argument T is of dimension 4x4 or 4x4xN, else false. ISHOMOG(T, ‘valid’) as above, but also checks the validity of the rotation sub-matrix. See Also: isrot, ishomog2, isvec

components.structure.common.common.isrot(rot, dtest=False)

ISROT Test if SO(2) or SO(3) rotation matrix ISROT(rot) is true if the argument if of dimension 2x2, 2x2xN, 3x3, or 3x3xN, else false (0). ISROT(rot, ‘valid’) as above, but also checks the validity of the rotation. See also ISHOMOG, ISROT2, ISVEC.

components.structure.common.common.isrot2(rot, dtest=False)

components.structure.common.common.isvec(v, l=3)

ISVEC Test if vector

components.structure.common.common.round_end_effector_position(ee_pos, direction, point, offset=None)

components.structure.common.states module

class components.structure.common.states.Block(position, status, final_destination)

Bases: object

class components.structure.common.states.BlockFace(xPos, yPos, zPos, face, blockWidth=0.49)

Bases: object

get_face_coordinate()

class components.structure.common.states.BuildingStates

Bases: enum.IntEnum

An enumeration.

DONE = 3

DONE_ORIGIN = 2

EMPTY = 4

WAITING_FOR_FERRYING = 0

WAITING_FOR_FILLING = 1

class components.structure.common.states.Division

Bases: object

get_locations_to_place_blocks()

class components.structure.common.states.MoveBlocksStore(blocks_to_remove, division)

Bases: object

class components.structure.common.states.PathPlanners

Bases: enum.Enum

An enumeration.

AStar = 1

FaceStar = 0

class components.structure.common.states.RobotBehaviors

Bases: enum.Enum

An enumeration.

BUILD = 3

FERRY = 0

MOVE = 2

UPDATE = 4

WAIT = 1

class components.structure.common.states.RobotCommunicator(robot_communicator, robot_id)

Bases: object

components.structure.common.util module

Module contents