robokudo.world
==============

.. py:module:: robokudo.world

.. autoapi-nested-parse::

   General methods to access the current World. Reasoning about alternate world states is done in the corresponding
   Annotators.



Attributes
----------

.. autoapisummary::

   robokudo.world.this
   robokudo.world._rk_world_lock


Functions
---------

.. autoapisummary::

   robokudo.world.get_world_entity_tracker
   robokudo.world.init_world_with_entity_tracker
   robokudo.world.init_world_entity_tracker_from_world
   robokudo.world.world_instance
   robokudo.world.set_world
   robokudo.world.unsafe_set_world
   robokudo.world.clear_world
   robokudo.world.unsafe_clear_world
   robokudo.world.world_has_body_by_name
   robokudo.world.setup_world_for_camera_frame


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

.. py:data:: this

.. py:data:: _rk_world_lock

   Lock for safe creation of the central SemDT World and entity tracker.


.. py:function:: get_world_entity_tracker() -> semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

   Get the entity tracker instance of for the current world.

   :return: The current entity tracker instance.


.. py:function:: init_world_with_entity_tracker() -> semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

   Initialize the world and entity tracker and return the entity tracker.

   :return: The newly created entity tracker instance.


.. py:function:: init_world_entity_tracker_from_world(world: semantic_digital_twin.world.World) -> semantic_digital_twin.adapters.world_entity_kwargs_tracker.WorldEntityWithIDKwargsTracker

   Initialize the entity tracker from the given world and return the entity tracker.

   :return: The newly created entity tracker instance.


.. py:function:: world_instance() -> semantic_digital_twin.world.World

   Return the world state for the currently running perception pipeline.

   .. warning::
   This is NOT necessarily the belief state World based on the previous analysis results.

   :return: A singleton-like World instance.


.. py:function:: set_world(world: semantic_digital_twin.world.World) -> None

   Clear the world state safely by overwriting it with the given instance.

   :param world: The new world state.


.. py:function:: unsafe_set_world(world: semantic_digital_twin.world.World) -> None

   Unsafely set the world state without acquiring the lock.

   .. warning::
       Always acquire the lock manually before calling this method. Take a look at `this.set_world()` or
       `this.init_world_with_entity_tracker()` for example.

   :param world: The new world state to set.


.. py:function:: clear_world() -> None

   Clear the world state by instantiating a new World.


.. py:function:: unsafe_clear_world() -> None

   Unsafely clear the world state without acquiring the lock.

   .. warning::
       Always acquire the lock manually before calling this method. Take a look at `this.clear_world()` or
       `this.world_instance()` for examples.


.. py:function:: world_has_body_by_name(world: semantic_digital_twin.world.World, body_name: str) -> bool

   Check whether a body with a given name exists in the given world.

   :param world: The world to check in.
   :param body_name: The body name to search for.
   :return: True if the body exists, False otherwise.


.. py:function:: setup_world_for_camera_frame(world_frame: str, camera_frame: str) -> None

   Set up the world and camera frames if they do not exist yet.

   :param world_frame: The name of the world frame.
   :param camera_frame: The name of the camera frame.