robokudo.utils.query
====================

.. py:module:: robokudo.utils.query


Classes
-------

.. autoapisummary::

   robokudo.utils.query.QueryAttributeMatcher
   robokudo.utils.query.ObjectHypothesisQueryMatcher
   robokudo.utils.query.QueryHandler


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

.. py:class:: QueryAttributeMatcher

   Connect an ObjectDesignator field extractor with its matcher.


   .. py:attribute:: requested_values
      :type:  collections.abc.Callable[[robokudo_msgs.msg.ObjectDesignator], typing_extensions.Any]

      Function that extracts requested values from an ObjectDesignator.



   .. py:attribute:: matches
      :type:  collections.abc.Callable[[robokudo.types.scene.ObjectHypothesis, typing_extensions.Any], bool]

      Function that checks if an ObjectHypothesis satisfies the requested values.



.. py:class:: ObjectHypothesisQueryMatcher

   Match ObjectHypotheses against requested ObjectDesignator attributes.


   .. py:attribute:: query_matchers


   .. py:method:: normalize_query_value(value: typing_extensions.Any) -> str
      :staticmethod:


      Normalize string-like query values for robust comparisons.



   .. py:method:: normalized_values(values: typing_extensions.Any) -> set[str]
      :classmethod:


      Return normalized, non-empty string values from scalar or sequence input.



   .. py:method:: value_variants(value: typing_extensions.Any) -> list[typing_extensions.Any]
      :staticmethod:


      Return common string-like representations for semantic names.



   .. py:method:: any_requested_value_matches(requested_values: typing_extensions.Any, candidate_values: list[typing_extensions.Any]) -> bool
      :classmethod:


      Return true if any requested value matches any candidate value.



   .. py:method:: matches(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_object: robokudo_msgs.msg.ObjectDesignator) -> bool

      Return true if an object hypothesis satisfies all supported query fields.



   .. py:method:: matches_uid(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match an ObjectDesignator uid request against the object hypothesis id.



   .. py:method:: matches_type(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match requested object type against Classification annotations.



   .. py:method:: matches_shape(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match requested shapes against shape annotations.



   .. py:method:: matches_color(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match requested colors against SemanticColor annotations.



   .. py:method:: matches_location(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match requested location against LocationAnnotation annotations.



   .. py:method:: matches_attribute(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match generic requested attributes against known annotation fields.



   .. py:method:: matches_size(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match semantic size requests against bounding-box dimensions.



   .. py:method:: matches_description(object_hypothesis: robokudo.types.scene.ObjectHypothesis, requested_values: typing_extensions.Any) -> bool

      Match generic requested descriptions against classification labels.



.. py:class:: QueryHandler

   Bases: :py:obj:`object`


   QueryHandler provides an interface to interact with the ROS Action-based query
   interface.

   This wrapper eases the use of the various Blackboard variables devoted to the
   communication with the query interface.


   .. py:method:: init_feedback_queue() -> None
      :staticmethod:


      Initializes the feedback queue on the Blackboard.



   .. py:method:: get_feedback_queue() -> queue.Queue
      :staticmethod:


      Retrieves and returns the feedback queue from the Blackboard.



   .. py:method:: send_feedback(feedback: robokudo_msgs.action.Query.Feedback) -> None
      :staticmethod:


      Add a feedback part of the Query msg to the feedback queue, ready to be sent.

      :param feedback: The feedback message to send.



   .. py:method:: send_feedback_str(feedback_str: str) -> None
      :staticmethod:


      Add a simple string to the feedback to the feedback queue, ready to be sent.

      :param feedback_str: The string to send as feedback.



   .. py:method:: send_answer(result: robokudo_msgs.action.Query.Result) -> None
      :staticmethod:


      Raise a standard RoboKudo Query Result as a query answer to the blackboard.

      :param result: The result to raise to the blackboard.



   .. py:method:: send_arbitrary_answer(result: typing_extensions.Any) -> None
      :staticmethod:


      Raise any data as a query answer to the blackboard.

      :param result: The data to raise to the blackboard.



   .. py:method:: preempt_requested() -> bool
      :staticmethod:


      Checks whether a preempt request is pending on the blackboard.

      :return: True if a preempt request is pending, False otherwise.



   .. py:method:: acknowledge_preempt_request() -> None
      :staticmethod:


      Acknowledges the preempt request on the blackboard.