class Result(_result.PoseResult):
_algorithm: Algorithm
_forces: Vector
_wrench: Vector
def __init__(self,
algorithm: Algorithm,
pose: _pose.Pose,
forces: Vector,
wrench: Vector,
**kwargs):
super().__init__(pose=pose, **kwargs)
self._algorithm = algorithm
self._forces = forces
self._wrench = wrench
@property
def algorithm(self):
return self._algorithm
@property
def forces(self):
return self._forces
@property
def wrench(self):
return self._wrench
__repr__ = make_repr(
'algorithm',
'pose',
'forces',
'wrench'
)
class Drivetrain(RobotComponent):
gearbox: _gearbox.Gearbox
drum: _drum.Drum
motor: _motor.Motor
def __init__(self,
drum: Optional[_drum.Drum] = None,
motor: Optional[_motor.Motor] = None,
gearbox: Optional[_gearbox.Gearbox] = None,
**kwargs):
super().__init__(**kwargs)
self.drum = drum or None
self.motor = motor or None
self.gearbox = gearbox or None
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return self.drum == other.drum \
and self.gearbox == other.gearbox \
and self.motor == other.motor
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash((self.drum, self.gearbox, self.motor))
__repr__ = make_repr('motor', 'gearbox', 'drum')
class TestMe(object):
def __init__(self, name, parent=None):
self.name = name
self.parent = parent
self.foo = False
__repr__ = make_repr('parent', 'foo', 'name')
class Gearbox(RobotComponent):
inertia: Num
ratio: Num
def __init__(self,
ratio: Optional[Num] = None,
inertia: Optional[Num] = None,
**kwargs):
super().__init__(**kwargs)
self.ratio = ratio or 1
self.inertia = inertia or np_.Inf
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return self.inertia == other.inertia \
and self.ratio == other.ratio
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash((self.inertia, self.ratio))
__repr__ = make_repr('ratio', 'inertia')
def xmlall(classname, tag_name, **params):
class_ = type(
classname, (XMLObject, ConvertableXML), {
"__init__":
make_init(params),
"to_xml":
make_to_xml(tag_name, params),
"_from_xml":
make_from_xml(params),
"_tag_name":
tag_name,
"__len__":
lambda self: len(self.values),
"__getitem__":
lambda self, key: self.values.__getitem__(key),
"__setitem__":
lambda self, key, value: self.values.__setitem__(key, value),
"__delitem__":
lambda self, key: self.values.__delitem__(key),
"__iter__":
lambda self: iter(self.values),
"append":
lambda self, item: self.values.append(item),
"to_object":
to_object,
})
[
setattr(class_, name, make_prop(prop_class))
for name, prop_class in params.items()
]
class_.__repr__ = make_repr('values')
return class_
def xmllist(classname, tag_name, children, kws=None):
if kws is None:
kws = []
children_class, children_tag = None, None
if isinstance(children, type):
children_class = children
else:
children_tag = children
class_ = type(
classname, (XMLObject, ConvertableXML), {
"__init__":
make_init(kws),
"to_xml":
make_to_xml(tag_name, children_class, children_tag, kws),
"_from_xml":
make_from_xml(children_class),
"__len__":
lambda self: len(self.values),
"__getitem__":
lambda self, key: self.values.__getitem__(key),
"__setitem__":
lambda self, key, value: self.values.__setitem__(key, value),
"__delitem__":
lambda self, key: self.values.__delitem__(key),
"__iter__":
lambda self: iter(self.values),
"append":
make_append(children_class),
"to_object":
to_object,
"_tag_name":
tag_name
})
class_.__repr__ = make_repr('values', *kws)
return class_
class TestMe(object):
def __init__(self):
# this reformatting needed to convence Python3
# that we want to put bytes into this attribute
self.foo = u'бар'.encode('utf-8')
__repr__ = make_repr('foo')
class Bar(object):
def __init__(self):
self.first = 1
self.second = 2
self.third = 3
__repr__ = make_repr()
class KinematicChain(RobotComponent):
cable: int
frame_anchor: int
platform: int
platform_anchor: int
def __init__(self, frame_anchor: int, platform: int, platform_anchor: int,
cable: int, **kwargs):
super().__init__(**kwargs)
self.cable = cable
self.frame_anchor = frame_anchor
self.platform = platform
self.platform_anchor = platform_anchor
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return self.frame_anchor == other.frame_anchor \
and self.platform == other.platform \
and self.platform_anchor == other.platform_anchor \
and self.cable == other.cable
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash((self.cable, self.frame_anchor, self.platform,
self.platform_anchor))
__repr__ = make_repr('frame_anchor', 'platform', 'platform_anchor',
'cable')
class TestMe(object):
def __init__(self):
self.foo = u'фу'
self.bar = u'бар'
self.bazz = u'базз'
__repr__ = make_repr('foo', 'bar', 'bazz')
class TestMe(object):
def __init__(self):
self.foo = 1
def bar(self):
return 2
__repr__ = make_repr()
class Foo(object):
def __init__(self):
self.bars = {
1: Bar(),
2: Bar(),
u'три': Bar(),
}
__repr__ = make_repr()
class Result(_result.PoseResult):
_matrix: Matrix
_kernel: Matrix
_pinv: Matrix
def __init__(self, pose: _pose.Pose, matrix: Union[Matrix, Result],
**kwargs):
super().__init__(pose=pose, **kwargs)
self._matrix = matrix.matrix if isinstance(matrix, Result) else matrix
self._kernel = None
self._pinv = None
@property
def inv(self):
return self.pinv
@property
def is_singular(self):
# according to Pott.2018, a pose is singular if the structure
# matrix's rank is smaller than the number of degrees of freedom
# i.e., the structure matrix's number of rows
return _np.linalg.matrix_rank(self._matrix) >= self._matrix.shape[0]
@property
def kernel(self):
if self._kernel is None:
self._kernel = null_space(self._matrix)
return self._kernel
@property
def matrix(self):
return self._matrix
@property
def null_space(self):
return self.kernel
@property
def nullspace(self):
return self.kernel
@property
def pinv(self):
if self._pinv is None:
if self._matrix.shape[0] == self._matrix.shape[1]:
self._pinv = _np.linalg.inv(self._matrix)
else:
self._pinv = _np.linalg.pinv(self._matrix)
return self._pinv
__repr__ = make_repr(
'pose',
'matrix',
'kernel',
)
class KinematicChainList(UserList, RobotComponent):
data: List[KinematicChain]
@property
def frame_anchor(self):
return (kinematicchain.frame_anchor for kinematicchain in self.data)
@property
def platform(self):
return (kinematicchain.platform for kinematicchain in self.data)
@property
def platform_anchor(self):
return (kinematicchain.platform_anchor for kinematicchain in self.data)
@property
def cable(self):
return (kinematicchain.cable for kinematicchain in self.data)
def with_frame_anchor(self, anchor: Union[Sequence[Num], Vector]):
anchor = anchor if isinstance(anchor, Sequence) else [anchor]
return self.__class__(d for d in self.data if d.frame_anchor in anchor)
def with_platform(self, platform: Union[Sequence[Num], Vector]):
platform = platform if isinstance(platform, Sequence) else [platform]
return self.__class__(d for d in self.data if d.platform in platform)
def with_platform_anchor(self, anchor: Union[Sequence[Num], Vector]):
anchor = anchor if isinstance(anchor, Sequence) else [anchor]
return self.__class__(d for d in self.data
if d.platform_anchor in anchor)
def with_cable(self, cable: Union[Sequence[Num], Vector]):
cable = cable if isinstance(cable, Sequence) else [cable]
return self.__class__(d for d in self.data if d.cable in cable)
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return all(this == that for this, that in zip(self, other))
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash(tuple(self.data))
__repr__ = make_repr('data')
class PlatformList(UserList, RobotComponent):
data: List[Platform]
@property
def all_combinations(self):
return itertools.combinations_with_replacement(self.data, 2)
@property
def anchors(self):
return (platform.anchors for platform in self.data)
@property
def angular_inertia(self):
return (platform.angular_inertia for platform in self.data)
@property
def bi(self):
return (platform.bi for platform in self.data)
@property
def center_of_gravity(self):
return (platform.center_of_gravity for platform in self.data)
@property
def center_of_linkage(self):
return (platform.center_of_linkage for platform in self.data)
@property
def inertia(self):
return (platform.inertia for platform in self.data)
@property
def linear_inertia(self):
return (platform.linear_inertia for platform in self.data)
@property
def motion_pattern(self):
return (platform.motion_pattern for platform in self.data)
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return all(this == that for this, that in zip(self, other))
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash(tuple(self.data))
__repr__ = make_repr('data')
class Pulley(RobotComponent):
angular: _angular.Angular
geometry: _geometry.Primitive
inertia: _inertia.Inertia
radius: Num
def __init__(self,
radius: Num,
geometry: Optional[_geometry.Primitive] = None,
inertia: Optional[_inertia.Inertia] = None,
dcm: Optional[Matrix] = None,
angular: Optional[_angular.Angular] = None,
**kwargs):
super().__init__(**kwargs)
self.radius = radius
self.geometry = geometry or None
self.inertia = inertia or _inertia.Inertia()
if angular is None:
angular = _angular.Angular(
dcm=dcm if dcm is not None else np_.eye(3))
self.angular = angular
@property
def dcm(self):
return self.angular.dcm
@dcm.setter
def dcm(self, dcm: Matrix):
self.angular.dcm = dcm
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return self.radius == other.radius \
and self.angular == other.angular \
and self.geometry == other.geometry \
and self.inertia == other.inertia
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash((self.angular, self.geometry, self.inertia, self.radius))
__repr__ = make_repr(
'radius',
'geometry',
'inertia',
'angular'
)
class PoseListResult(Result):
_pose_list: PoseList
def __init__(self, pose_list: PoseList, **kwargs):
super().__init__(**kwargs)
self._pose_list = pose_list
@property
def pose_list(self):
return self._pose_list
__repr__ = make_repr('pose_list')
class PoseResult(Result):
_pose: Pose
def __init__(self, pose: Pose, **kwargs):
super().__init__(**kwargs)
self._pose = pose
@property
def pose(self):
return self._pose
__repr__ = make_repr('pose')
class CableList(UserList, RobotComponent):
data: List[Cable]
@property
def name(self):
return (cable.name for cable in self.data)
@property
def material(self):
return (cable.material for cable in self.data)
@property
def diameter(self):
return (cable.diameter for cable in self.data)
@property
def modulus(self):
return (cable.modulus for cable in self.data)
@property
def color(self):
return (cable.color for cable in self.data)
@property
def breaking_load(self):
return (cable.breaking_load for cable in self.data)
@property
def elasticities(self):
return (cable.elasticities for cable in self.data)
@property
def viscosities(self):
return (cable.viscosities for cable in self.data)
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return all(this == that for this, that in zip(self, other))
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash(tuple(self.data))
__repr__ = make_repr('data')
class ScoreEntry(db.Model):
"""Models a component of the score for a given player.
A die is associated with a player (i.e. a user and a game), a score_item,
and a value (number of points).
"""
id = db.Column(db.Integer(), primary_key=True)
player_id = db.Column(db.Integer,
db.ForeignKey('player.id'),
nullable=False)
player = db.relationship('Player',
backref=db.backref('score_entries', lazy=True))
score_item = db.Column(db.Enum(ScoreItem), nullable=False)
value = db.Column(db.Integer)
db.UniqueConstraint('player_id', 'score_item', name='uix_1')
game = db.relationship('Game',
secondary='player',
lazy='subquery',
backref=db.backref('score_entries', lazy=True))
user = db.relationship('User',
secondary='player',
lazy='subquery',
backref=db.backref('score_entries', lazy=True))
def __init__(self, **kwargs):
"""Initializes score_entry.
Keyword arguments:
id -- a unique integer identifying the score_entry.
score_item -- this entrie's score item.
user -- the user to which this entry belongs.
game -- the game to which this entry belongs.
player -- the player object to which this entry belongs.
value -- number of points for this entry (Null if the entry is still
available).
"""
super(ScoreEntry, self).__init__(**kwargs)
def __eq__(self, other):
"""Return true if other is a score_entry with the same id."""
return (self.__class__ == other.__class__ and self.id == other.id)
def __hash__(self):
"""A hash for this object."""
return hash(self.id)
__repr__ = make_repr()
@property
def is_available(self):
"""Return true if this entry is still available to the player."""
return self.value is None
class PoseList(UserList, Object):
data: Sequence[Pose]
@property
def acceleration(self):
return (pose.acceleration for pose in self.data)
@property
def angular(self):
return (pose.angular for pose in self.data)
@property
def linear(self):
return (pose.linear for pose in self.data)
@property
def position(self):
return (pose.position for pose in self.data)
@property
def state(self):
return (pose.state for pose in self.data)
@property
def time(self):
return (pose.time for pose in self.data)
@property
def transformation(self):
return (pose.transformation for pose in self.data)
@property
def velocity(self):
return (pose.velocity for pose in self.data)
def __eq__(self, other):
if not isinstance(other, self.__class__):
raise TypeError()
if self is other:
return True
return all(this == that for this, that in zip(self, other))
def __ne__(self, other):
return not self == other
def __hash__(self):
return hash(tuple(self.data))
__repr__ = make_repr('data')
class PlatformAnchor(Anchor):
def __init__(self,
position: Optional[Vector] = None,
dcm: Optional[Matrix] = None,
linear: Optional[_linear.Linear] = None,
angular: Optional[_angular.Angular] = None,
**kwargs):
super().__init__(position=position,
dcm=dcm,
linear=linear,
angular=angular,
**kwargs)
__repr__ = make_repr('position', 'dcm')
def test_if_attribute_can_be_generated_by_callable():
# In this case, we check if make_repr can
# accept keyword arguments, where value is
# a callable which returns attribute's value
class TestMe(object):
def some_method(self):
return u'Минор'
TestMe.__repr__ = make_repr(blah=TestMe.some_method)
instance = TestMe()
expected = "<TestMe blah=u'Минор'>"
result = repr(instance)
eq_(result, expected.strip())
def xmlenum(classname, tag_name, **enums):
class_ = type(
classname, (XMLObject, ConvertableXML), {
"__init__": make_init(classname, enums),
"to_xml": make_to_xml(tag_name),
"_from_xml": make_from_xml(enums),
"__eq__": make_eq(classname),
"__str__": __str__,
"_tag_name": tag_name,
"__hash__": make_hash(enums),
"to_object": to_object,
"items": enums,
**enums
})
class_.__repr__ = make_repr('key')
return class_
def xmltuple(classname,
tag_name,
attributes,
children_classes=None,
kws=[],
types={}):
if isinstance(children_classes, (list, tuple)):
children_classes = {c_._tag_name: c_ for c_ in children_classes}
class_ = type(
classname, (XMLObject, ConvertableXML), {
"__init__": make_init(attributes, types),
"to_xml": make_to_xml(tag_name, attributes, kws),
"_from_xml": make_from_xml(children_classes),
"_tag_name": tag_name,
"to_object": make_to_object(tag_name, attributes, kws, types),
"__iter__": make_iter(attributes),
**{key: None
for key in attributes}
})
class_.__repr__ = make_repr(*attributes, *kws)
return class_
def xmltag(classname, tag_name, type_):
class_ = type(
classname, (XMLObject, ConvertableXML), {
"__init__":
lambda self, value: setattr(self, 'value', type_(value)),
"to_xml":
to_xml,
"_from_xml":
classmethod(lambda cls, tag: cls._make_args(tag.text)),
"to_object":
to_object,
"_tag_name":
tag_name,
"__str__":
lambda self: str(self.value),
"__hash__":
make_hash(type_)
}
)
class_.__repr__ = make_repr('value')
return class_
class ScopeMeta(object):
_name: str
_file: Union[AnyStr, _pl.Path]
_start_record: Union[AnyStr, _datetime.datetime]
_end_record: Union[AnyStr, _datetime.datetime]
def __init__(self,
name: str,
file: Union[AnyStr, _pl.Path],
start_record: Union[AnyStr, _datetime.datetime],
end_record: Union[AnyStr, _datetime.datetime]):
self._name = name
self._file = file
self._start_record = start_record
self._end_record = end_record
@property
def end_record(self):
return self._end_record
@property
def file(self):
return self._file
@property
def name(self):
return self._name
@property
def start_record(self):
return self._start_record
__repr__ = make_repr(
'name',
'file',
'start_record',
'end_record',
)
class Die(db.Model):
"""Models a die.
A die is associated with a game, an index (unique within the game), and
a face value.
"""
id = db.Column(db.Integer, primary_key=True)
game_id = db.Column(db.Integer, db.ForeignKey('game.id'), nullable=False)
game = db.relationship('Game', backref=db.backref('dice', lazy=True))
index = db.Column(db.Integer, nullable=False)
value = db.Column(db.Integer, nullable=False, default=6)
db.UniqueConstraint('game_id', 'index', name='uix_1')
def __init__(self, **kwargs):
"""Initializes die object.
Keyword arguments:
id -- a unique integer identifying the die.
game -- the game to which this die belongs.
index -- orders the die within a game.
value -- the face value of the die (defaults to 6).
"""
super(Die, self).__init__(**kwargs)
def __eq__(self, other):
"""Return true if other is a die with the same id."""
return (self.__class__ == other.__class__ and self.id == other.id)
def __hash__(self):
"""Return a hash for this object."""
return hash(self.id)
__repr__ = make_repr()
def roll(self):
"""Set die value to a random number between 1 and 6 (inclusive)."""
self.value = randint(1, 6)
class Primitive(Object, ABC):
"""
"""
"""
(3,) vector denoting the point where the geometry primitive is centered
around
"""
_center: Vector
"""
(3,) vector denoting the centroid of the geometry
"""
_centroid: Vector
"""
Surface area of the geometry
"""
_surface: float
"""
Geometric volume of the geometry
"""
_volume: float
def __init__(self, center: Vector = None, **kwargs):
super().__init__(**kwargs)
self.center = center if center is not None else [0.0, 0.0, 0.]
self._centroid = None
@property
@abstractmethod
def centroid(self):
"""
(3,) vector denoting the centroid of the geometry
Returns
-------
"""
raise NotImplementedError()
@property
@abstractmethod
def surface_area(self):
"""
Surface area of the geometry
Returns
-------
"""
raise NotImplementedError()
@property
@abstractmethod
def volume(self):
"""
Geometric volume of the geometry
Returns
-------
"""
raise NotImplementedError()
@property
def center(self):
"""
(3,) vector denoting the point where the geometry primitive is
centered around
Returns
-------
"""
return self._center
@center.setter
def center(self, center: Vector):
self._center = _np.asarray(center)
@center.deleter
def center(self):
del self._center
@property
def faces(self):
raise NotImplementedError()
@property
def num_faces(self):
return len(self.faces)
@property
def num_vertices(self):
return len(self.vertices)
@property
def vertices(self):
raise NotImplementedError()
def __eq__(self, other):
if not isinstance(other, type(self)):
return False
if self is other:
return True
return _np.allclose(self.centroid, other.centroid) \
and _np.isclose(self.surface_area, other.surface_area) \
and _np.isclose(self.volume, other.volume)
def __ne__(self, other):
return not self == other
def __hash__(self):
centroid = self.centroid
return hash((centroid[0], centroid[1], centroid[2], self.surface_area,
self.volume))
__repr__ = make_repr(
'centroid',
'surface',
'volume',
)
for tag in self.soup.find_all('entity'):
entity = Entity.from_xml(tag)
self.add_entity(entity)
self.relations = [
Relation.from_xml(tag) for tag in self.soup.find_all('relation')
]
def iter_relations(self, filter_):
for relation in self.relations:
if filter_(relation):
yield relation
elif len(relation) == 2 and filter_(relation.invert()):
yield relation.invert()
def to_xml(self):
soup = BeautifulSoup(features='xml')
soup.append(
soup.new_tag('erModel', **self._config.XML['ErRootAttributes'])
)
root = soup.find('erModel')
XMLObject.soup = self.soup
for entity in self.entities.values():
root.append(entity.to_xml())
for relation in self.relations:
root.append(relation.to_xml())
return soup
ERD.__repr__ = make_repr('entities', 'relations')
