Python wrapper for the DSR Graph

Python wrapper for the DSR Graph¶

Initialization¶

# import the module
import pydsr

# constants
AGENT_ID = 42                    # unique among agents
DSR_NAME = "example_dsr_graph"   # target DSR graph name

# retrieve the graph and the RT-edge API objects
g      = pydsr.DSRGraph(0, DSR_NAME, AGENT_ID)
rt_api = pydsr.rt_api(g)

Methods¶

Attribute¶

Attribute(v, t: int, agent_id: int) → Attribute

Attribute(v, agent_id: int) → Attribute: Constructor.
Attribute.agent_id: TODO
Attribute.timestamp: TODO
Attribute.value: TODO

Edge¶

Edge(to: int, from: int, type: str, agent_id: int) → Edge: Constructor.
Edge.type: TODO
Edge.origin: TODO
Edge.destination: TODO
Edge.agent_id: TODO
Edge.attrs: TODO

DSRGraph¶

DSRGraph.get_node(id: int) → Node

DSRGraph.get_node(name: str) → Node: Return the node with the id or name passed as parameter. Returns None if the node does not exist.

DSRGraph.delete_node(id: int) → bool

DSRGraph.delete_node(name: str) → bool: Delete the node with the given id. Returns a bool with the result o the operation.
DSRGraph.insert_node(node: Node) → int: Insert in the graph the new node passed as parameter. Returns the id of the node or None if the Node alredy exist in the map.
DSRGraph.update_node(node: Node) → bool: Update the node in the graph. Returns a bool indicating whether the operation was successful.

DSRGraph.get_edge(from: int, to: int, type: str) → Edge

DSRGraph.get_edge(from: str, to: str, type: str) → Edge: Return the edge with the parameters from, to, and type passed as parameter. Returns None if the edge does not exist.
DSRGraph.insert_or_assign_edge(edge: Edge) → bool: Insert or updates and edge. Returns a bool indicating whether the operation was successful.

DSRGraph.delete_edge(from: int, to: int, type: str) → bool

DSRGraph.delete_edge(from: str, to: str, type: str) → bool: Return the edge with the parameters from, to, and type passed as parameter. Returns a bool indicating whether the operation was successful.
DSRGraph.get_node_root() → Node: Return the root node.
DSRGraph.get_nodes_by_type(type: str) → [Node]: Return all the nodes with a given type.
DSRGraph.get_name_from_id(id: int) → str: Return the name of a node given its id.
DSRGraph.get_id_from_name(name: str) → int: Return the id from a node given its name.
DSRGraph.get_edges_by_type(type: str) → [Edge]: Return all the edges with a given type.
DSRGraph.get_edges_to_id(id: int) → [Edge]: Return all the edges that point to a node.
DSRGraph.write_to_json_file(file, skip_attrs: [str]) → [Edge]: Dump the graph to a JSON file, skipping the attributes in skip_attrs.

InnerEigenAPI¶

InnerEigenAPI.transform(orig: str, dest: str, timestamp: int) →

InnerEigenAPI.transform(orig: str, vector, dest: str, timestamp: int) →: TODO

InnerEigenAPI.transform(orig: str, dest: str, timestamp: int) →

InnerEigenAPI.transform(orig: str, vector, dest: str, timestamp: int) →: TODO
InnerEigenAPI.get_transformation_matrix(orig: str, dest: str, timestamp: int) →: TODO
InnerEigenAPI.get_rotation_matrix(orig: str, dest: str, timestamp: int) →: TODO
InnerEigenAPI.get_translation_vector(orig: str, dest: str, timestamp: int) →: TODO
InnerEigenAPI.get_euler_xyz_angles(orig: str, dest: str, timestamp: int) →: TODO

Node¶

Node(agent_id: int, type: str, name: str) → Node: Constructor.
Node.id: TODO
Node.name: TODO
Node.type: TODO
Node.agent_id: TODO
Node.attrs: TODO
Node.edges: TODO

RT_API¶

RT_API.insert_or_assign_edge_RT(node: Node, to: int, translation: [float], rotation_euler: [float]) →: TODO
RT_API.get_edge_RT(node: Node, to: int) →: TODO
RT_API.get_RT_pose_from_parent(node: Node) →: TODO
RT_API.get_edge_RT_as_rtmat(edge: Edge, t: int) →: TODO
RT_API.get_translation(id: int, to: int, timestamp: int) →: TODO

Signals¶

When the DSR graph is altered, a signal is fired. Handler functions can be connected to these signals so they are called when they are fired. The following signals are exposed through this API:

signals.UPDATE_NODE: Handler signature: int, str → None
signals.UPDATE_NODE_ATTR: Handler signature: int, [str] → None
signals.UPDATE_EDGE: Handler signature: int, int, str → None
signals.UPDATE_EDGE_ATTR: Handler signature: int, int, [str] → None
signals.DELETE_EDGE: Handler signature: int, int, str → None; An edge has been deleted.
signals.DELETE_NODE: Handler signature: [int] → None; A node has been deleted.

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