klampt.model.types module¶
Utilities for inspecting Klamp’t objects to retrieve a type string / create objects from type strings.
Functions:
Returns a set of all known Klampt types |
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Returns a string defining the type of the given Python Klamp’t object. |
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Returns a type string for the Klamp’t object obj, restricted to the set of validTypes. |
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Makes a default instance of the given type. |
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Converts a Klampt object that refers to a source robot to an object that refers to a target robot, assuming matched link names. |
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Deprecated in a future version of Klampt. |
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Deprecated in a future version of Klampt. |
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klampt.model.types.
object_to_types
(object, world=None)[source]¶ Returns a string defining the type of the given Python Klamp’t object. If multiple types could be associated with it, then it returns a list of all possible valid types.
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klampt.model.types.
object_to_type
(obj, validTypes=None, world=None)[source]¶ Returns a type string for the Klamp’t object obj, restricted to the set of validTypes. If there are multiple interpretations, the first type in object_to_types that matches a valid type is returned.
- Parameters
obj – A Klamp’t-compatible object
validTypes (set, dict, or None) – a set or dict of possible valid types. If None, any type is accepted
- Returns
The type of the object, or None if no valid type was found
- Return type
str or None
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klampt.model.types.
make
(type, object=None)[source]¶ Makes a default instance of the given type.
- Parameters
type (str) – the name of the desired type
object (optional) – If
type
is ‘Config’, ‘Configs’, ‘Vector’, or ‘Trajectory’, can provide the object for which the new instance will be compatible.
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klampt.model.types.
transfer
(object, source_robot, target_robot, link_map=None)[source]¶ Converts a Klampt object that refers to a source robot to an object that refers to a target robot, assuming matched link names.
- Parameters
object – any Klampt object. This is only meaningful for int, list of int (IntArray), vector (Config), list of vector (Configs), Trajectory, IKGoal, RobotModelLink, or SubRobotModel types.
source_robot (str or RobotModel) – the robot for which
object
is meaningful. If str, this is the filename of the source robot.target_robot (str or RobotModel) – the robot that will use the return result. If str, this is the filename of the target robot.
link_map (dict, optional) – if given, maps source link names to target link names, or source link indices to target link indices. This can also be a 1-element dict {‘*’:’prefix:’} indicating that the links of source_robot map to ‘prefix:’+[LINK_NAME], or a dict {‘prefix:’:’*’} indicating the reverse.
- Returns
the object, with links mapped to the target robot.
- Return type
same type as object
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klampt.model.types.
objectToTypes
(*args, **kwargs)¶ Deprecated in a future version of Klampt. Use object_to_types instead
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klampt.model.types.
knownTypes
(*args, **kwargs)¶ Deprecated in a future version of Klampt. Use known_types instead