robokudo.types.belief_state

Classes

ObjectBeliefState

Module Contents

class robokudo.types.belief_state.ObjectBeliefState

body: semantic_digital_twin.world_description.world_entity.Body

The semdt body associated with the belief state.

max_num_hypotheses: int = 1

The maximum number of object hypotheses to keep in the belief state.

hypotheses: typing_extensions.Deque[robokudo.types.scene.ObjectHypothesis]

The hypotheses associated with the belief state.

__post_init__()

classmethod create_with_new_body(name: typing_extensions.Optional[semantic_digital_twin.datastructures.prefixed_name.PrefixedName] = None) → typing_extensions.Self

Create a new ObjectBeliefState with a new Body.

Parameters:

name – Name of the body.

Returns:

The new object belief state.

property uuid: uuid.UUID

The UUID of the belief state.

property latest_hypothesis: typing_extensions.Optional[robokudo.types.scene.ObjectHypothesis]

The latest hypothesis added to the belief state.

property latest_pose: typing_extensions.Optional[robokudo.types.annotation.PoseAnnotation]

The newest pose annotation of the latest hypothesis.

property latest_bbox_3d: typing_extensions.Optional[robokudo.types.annotation.BoundingBox3DAnnotation]

The newest 3D bounding box annotation of the latest hypothesis.

add_hypothesis(hypothesis: robokudo.types.scene.ObjectHypothesis) → typing_extensions.Self

Add a new hypothesis to the belief state.

Parameters:

hypothesis – The hypothesis to add.