robokudo.io.semantic_digital_twin
=================================

.. py:module:: robokudo.io.semantic_digital_twin


Classes
-------

.. autoapisummary::

   robokudo.io.semantic_digital_twin.Object
   robokudo.io.semantic_digital_twin.TrackedObject
   robokudo.io.semantic_digital_twin.UpdateSemanticAnnotationCommand
   robokudo.io.semantic_digital_twin.AddCollisionCommand
   robokudo.io.semantic_digital_twin.UpdateCollisionCommand
   robokudo.io.semantic_digital_twin.RemoveCollisionCommand
   robokudo.io.semantic_digital_twin.AddObjectDiff
   robokudo.io.semantic_digital_twin.UpdateObjectDiff
   robokudo.io.semantic_digital_twin.RemoveObjectDiff
   robokudo.io.semantic_digital_twin.SemanticDigitalTwinAdapter


Functions
---------

.. autoapisummary::

   robokudo.io.semantic_digital_twin.load_semantic_annotation_extensions


Module Contents
---------------

.. py:class:: Object

   .. py:attribute:: data
      :type:  dict


.. py:class:: TrackedObject

   .. py:attribute:: obj
      :type:  Object


   .. py:attribute:: body
      :type:  semantic_digital_twin.world_description.world_entity.Body


   .. py:attribute:: semantic_annotations
      :type:  list


   .. py:attribute:: conns
      :type:  list


   .. py:attribute:: uid
      :type:  uuid.UUID


.. py:class:: UpdateSemanticAnnotationCommand(adapter: SemanticDigitalTwinAdapter, old_semantic_annotation: semantic_digital_twin.world_description.world_entity.SemanticAnnotation, new_semantic_annotation: semantic_digital_twin.world_description.world_entity.SemanticAnnotation)

   .. py:attribute:: adapter


   .. py:attribute:: semantic_annotation


   .. py:attribute:: old_semantic_annotation


   .. py:attribute:: new_semantic_annotation


   .. py:method:: apply(world)
      :abstractmethod:



   .. py:method:: undo(world)
      :abstractmethod:



.. py:class:: AddCollisionCommand(adapter: SemanticDigitalTwinAdapter, body: semantic_digital_twin.world_description.world_entity.Body, new_collision: semantic_digital_twin.world_description.geometry.Shape)

   .. py:attribute:: adapter


   .. py:attribute:: body


   .. py:attribute:: new_collision


   .. py:method:: apply(world)


   .. py:method:: undo(world)


.. py:class:: UpdateCollisionCommand(adapter: SemanticDigitalTwinAdapter, old_collision: semantic_digital_twin.world_description.geometry.Shape, new_collision: semantic_digital_twin.world_description.geometry.Shape)

   .. py:attribute:: adapter


   .. py:attribute:: collision


   .. py:attribute:: old_collision


   .. py:attribute:: new_collision


   .. py:method:: apply(world)


   .. py:method:: undo(world)


.. py:class:: RemoveCollisionCommand(adapter: SemanticDigitalTwinAdapter, body: semantic_digital_twin.world_description.world_entity.Body, old_collision: semantic_digital_twin.world_description.geometry.Shape)

   .. py:attribute:: adapter


   .. py:attribute:: body


   .. py:attribute:: old_collision


   .. py:method:: apply(world)


   .. py:method:: undo(world)


.. py:class:: AddObjectDiff(adapter: SemanticDigitalTwinAdapter, new_object: Object)

   .. py:attribute:: adapter


   .. py:attribute:: new_object


   .. py:attribute:: tracked_object


   .. py:attribute:: commands
      :value: []



   .. py:method:: apply()


   .. py:method:: undo()


.. py:class:: UpdateObjectDiff(adapter: SemanticDigitalTwinAdapter, old_object: TrackedObject, new_object: Object)

   .. py:attribute:: adapter


   .. py:attribute:: old_object


   .. py:attribute:: new_object


   .. py:attribute:: tracked_object


   .. py:attribute:: commands
      :value: []



   .. py:method:: apply()


   .. py:method:: undo()


.. py:class:: RemoveObjectDiff(adapter: SemanticDigitalTwinAdapter, old_object: TrackedObject)

   .. py:attribute:: adapter


   .. py:attribute:: old_object


   .. py:attribute:: commands
      :value: []



   .. py:method:: apply()


   .. py:method:: undo()


.. py:function:: load_semantic_annotation_extensions()

.. py:class:: SemanticDigitalTwinAdapter(cas, urdf_path: str = None, semantic_annotation_sources: list = None)

   Class to convert RoboKudo concepts to the SemanticWorld.


   .. py:attribute:: cas


   .. py:attribute:: tracked_objects
      :type:  list[TrackedObject]
      :value: []



   .. py:attribute:: comparators


   .. py:attribute:: semantic_color_to_rgb


   .. py:method:: compute_diffs(new_objects: list[Object]) -> list


   .. py:method:: compute_obj_diff(old_object: Object, new_object: Object) -> float


   .. py:method:: object_to_tracked_object(obj: Object) -> TrackedObject

      Creates a TrackedObject from a RoboKudo object.



   .. py:method:: class_to_semantic_annotation(class_name: str, **kwargs) -> semantic_digital_twin.world_description.world_entity.SemanticAnnotation
      :staticmethod:


      Convert a classification name to a SemanticWorld SemanticAnnotation.



   .. py:method:: apply_diffs(diffs: list)
      :staticmethod: