def findNearestPosition(aListPosition=None, aListGroupToIgnore=[]):
"find nearest position between some known or specific position"
"aListPosition is a mixed type list: eg: [ 'Sitting', 'Standing', {'TorsoX': 0.005236, 'TorsoY': 0.001745 } ]"
"aListGroupToIgnore is a mixed type list of joint or group to ignore for comparison"
"return an array [position, distance to this position, name of position (if this position has a name)]"
if (aListPosition == None):
aListPosition = PoseLibrary.getListPosition()
rDistMin = 1000.0
strNameMin = ""
posMin = dict()
for pos in aListPosition:
strName = ""
if (typetools.isString(pos)):
strName = pos
pos = PoseLibrary.getPosition(strName)
rDist = PoseLibrary.comparePosition(pos, aListGroupToIgnore)
# here it's not optimal, at every call we will compute the current position
# print( "rDist: %f" % rDist );
if (rDist < rDistMin):
rDistMin = rDist
strNameMin = strName
posMin = pos
debug.debug("findNearestPosition between %s:" % aListPosition)
debug.debug("posMin: %s\ndistMin: %f\nName: '%s'" %
(str(posMin), rDistMin, strNameMin))
return [posMin, rDistMin, strNameMin]
def removeFromCache( strName, typeType ):
"remove an object from the cache, return False if the object isn't present in the cache"
if( typetools.isString( typeType ) ):
strGeneratedName = strName + str( type( typeType ) );
else:
strGeneratedName = strName + str( typeType ); # => return the type
# print( "altools.removeFromCache: strGeneratedName: '%s'" % strGeneratedName );
global global_dictCacheObj;
try:
del global_dictCacheObj[strGeneratedName];
return True;
except:
pass
return False;
def getInCache( strName, typeType ):
"get an objet from a list of cached object, return None if object not in cache"
# debug( "altools.getInCache( %s )" % strName );
if( typetools.isString( typeType ) ):
strGeneratedName = strName + str( type( typeType ) );
else:
strGeneratedName = strName + str( typeType ); # => return the type
# print( "altools.getInCache: strGeneratedName: '%s'" % strGeneratedName );
global global_dictCacheObj;
if( strGeneratedName in global_dictCacheObj ):
# debug( "altools.getInCache: obj %s as %s caching success" % ( strName , strGeneratedName ) );
return global_dictCacheObj[strGeneratedName];
# debug( "altools.getInCache: obj %s as %s not in cache" % ( strName , strGeneratedName ) );
return None;
def removeFromCache(strName, typeType):
"remove an object from the cache, return False if the object isn't present in the cache"
if (typetools.isString(typeType)):
strGeneratedName = strName + str(type(typeType))
else:
strGeneratedName = strName + str(typeType)
# => return the type
# print( "altools.removeFromCache: strGeneratedName: '%s'" % strGeneratedName );
global global_dictCacheObj
try:
del global_dictCacheObj[strGeneratedName]
return True
except:
pass
return False
def getInCache(strName, typeType):
"get an objet from a list of cached object, return None if object not in cache"
# debug( "altools.getInCache( %s )" % strName );
if (typetools.isString(typeType)):
strGeneratedName = strName + str(type(typeType))
else:
strGeneratedName = strName + str(typeType)
# => return the type
# print( "altools.getInCache: strGeneratedName: '%s'" % strGeneratedName );
global global_dictCacheObj
if (strGeneratedName in global_dictCacheObj):
# debug( "altools.getInCache: obj %s as %s caching success" % ( strName , strGeneratedName ) );
return global_dictCacheObj[strGeneratedName]
# debug( "altools.getInCache: obj %s as %s not in cache" % ( strName , strGeneratedName ) );
return None
def findNearestPosition( aListPosition = None, aListGroupToIgnore = [] ):
"find nearest position between some known or specific position"
"aListPosition is a mixed type list: eg: [ 'Sitting', 'Standing', {'TorsoX': 0.005236, 'TorsoY': 0.001745 } ]"
"aListGroupToIgnore is a mixed type list of joint or group to ignore for comparison"
"return an array [position, distance to this position, name of position (if this position has a name)]"
if( aListPosition == None ):
aListPosition = PoseLibrary.getListPosition();
rDistMin = 1000.0;
strNameMin = "";
posMin = dict();
for pos in aListPosition:
strName = "";
if( typetools.isString( pos ) ):
strName = pos;
pos = PoseLibrary.getPosition( strName );
rDist = PoseLibrary.comparePosition( pos, aListGroupToIgnore ); # here it's not optimal, at every call we will compute the current position
# print( "rDist: %f" % rDist );
if( rDist < rDistMin ):
rDistMin = rDist;
strNameMin = strName;
posMin = pos;
debug.debug( "findNearestPosition between %s:" % aListPosition );
debug.debug( "posMin: %s\ndistMin: %f\nName: '%s'" % ( str( posMin), rDistMin, strNameMin ) );
return [ posMin, rDistMin, strNameMin ];
def generateDocumentation( objectToDocument, bShowPrivate = False, nBaseLevel = 0 ):
"return a documentation of all methods and objects contains in an object"
class Dummy:
""" a small class just to deduce class type further"""
def __init__(self):
pass
# class Dummy - end
strDoc = "";
nLenHashLine = 60;
strDoc += "#" + " " * nBaseLevel + "-" * nLenHashLine + "\n";
try:
strName = objectToDocument.__name__;
except:
strName = "(noname)";
try:
strTypeName = type( objectToDocument ).__name__;
except:
strTypeName = "(noname)";
strDoc += "#" + " " * nBaseLevel + " %s '%s': %s\n" % ( strTypeName, strName, str( objectToDocument.__doc__ ) );
strDoc += "#" + " " * nBaseLevel + "-" * nLenHashLine + "\n";
# strDoc += "# summary:\n";
stdDocClass = "";
stdDocMethod = "";
stdDocData = "";
for attrName in dir( objectToDocument ):
if( not bShowPrivate and ( attrName[0:2] == '__' or attrName[0:4] == "dict" ) ):
continue;
some_object = getattr( objectToDocument, attrName );
try:
if( isinstance( some_object, type(constants) ) ): # quand on importe un module, il apparait dans le scope de l'objet qui l'a importé
continue;
except BaseException, err:
print( "ERROR: generateDocumentation: pb on object '%s' (err:%s)" % ( attrName, err ) );
# continue;
strDesc = "";
if( typetools.isDict( some_object ) ):
strDesc = "a dictionnary.";
elif( isinstance( some_object, type( bool ) ) ):
strDesc = "a bool.";
elif( typetools.isInt( some_object ) ):
strDesc = "an integer.";
elif( isinstance( some_object, float ) ):
strDesc = "a float.";
elif( isinstance( some_object, list ) ):
strDesc = "a list.";
elif( typetools.isString( some_object ) ):
strDesc = "a string.";
elif( isinstance( some_object, type( Dummy ) ) ):
attrName = "class " + attrName;
strDesc = some_object.__doc__;
else:
if( some_object.__doc__ == None ):
strDesc = "TODO: DOCUMENT ME";
else:
strDesc = some_object.__doc__;
if( isinstance( some_object, type( generateDocumentation ) ) ):
attrName = attrName + "(" + ")";
strToAdd = "#" + " " * nBaseLevel + " - %s: %s\n" % ( attrName, strDesc );
if( isinstance( some_object, type( generateDocumentation ) ) ):
stdDocMethod += strToAdd;
elif( isinstance( some_object, type( Dummy ) ) ):
stdDocClass += strToAdd;
stdDocClass += generateDocumentation( some_object, nBaseLevel = nBaseLevel + 6 );
else:
stdDocData += strToAdd;
def generateDocumentation(objectToDocument, bShowPrivate=False, nBaseLevel=0):
"return a documentation of all methods and objects contains in an object"
class Dummy:
""" a small class just to deduce class type further"""
def __init__(self):
pass
# class Dummy - end
strDoc = ""
nLenHashLine = 60
strDoc += "#" + " " * nBaseLevel + "-" * nLenHashLine + "\n"
try:
strName = objectToDocument.__name__
except:
strName = "(noname)"
try:
strTypeName = type(objectToDocument).__name__
except:
strTypeName = "(noname)"
strDoc += "#" + " " * nBaseLevel + " %s '%s': %s\n" % (
strTypeName, strName, str(objectToDocument.__doc__))
strDoc += "#" + " " * nBaseLevel + "-" * nLenHashLine + "\n"
# strDoc += "# summary:\n";
stdDocClass = ""
stdDocMethod = ""
stdDocData = ""
for attrName in dir(objectToDocument):
if (not bShowPrivate
and (attrName[0:2] == '__' or attrName[0:4] == "dict")):
continue
some_object = getattr(objectToDocument, attrName)
try:
if (
isinstance(some_object, type(constants))
): # quand on importe un module, il apparait dans le scope de l'objet qui l'a importé
continue
except BaseException, err:
print("ERROR: generateDocumentation: pb on object '%s' (err:%s)" %
(attrName, err))
# continue;
strDesc = ""
if (typetools.isDict(some_object)):
strDesc = "a dictionnary."
elif (isinstance(some_object, type(bool))):
strDesc = "a bool."
elif (typetools.isInt(some_object)):
strDesc = "an integer."
elif (isinstance(some_object, float)):
strDesc = "a float."
elif (isinstance(some_object, list)):
strDesc = "a list."
elif (typetools.isString(some_object)):
strDesc = "a string."
elif (isinstance(some_object, type(Dummy))):
attrName = "class " + attrName
strDesc = some_object.__doc__
else:
if (some_object.__doc__ == None):
strDesc = "TODO: DOCUMENT ME"
else:
strDesc = some_object.__doc__
if (isinstance(some_object, type(generateDocumentation))):
attrName = attrName + "(" + ")"
strToAdd = "#" + " " * nBaseLevel + " - %s: %s\n" % (attrName, strDesc)
if (isinstance(some_object, type(generateDocumentation))):
stdDocMethod += strToAdd
elif (isinstance(some_object, type(Dummy))):
stdDocClass += strToAdd
stdDocClass += generateDocumentation(some_object,
nBaseLevel=nBaseLevel + 6)
else:
stdDocData += strToAdd