timor.utilities.tolerated_pose
==============================

.. py:module:: timor.utilities.tolerated_pose


Classes
-------

.. autoapisummary::

   timor.utilities.tolerated_pose.ToleratedPose


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

.. py:class:: ToleratedPose(nominal, tolerance = None)


   .. autoapi-inheritance-diagram:: timor.utilities.tolerated_pose.ToleratedPose
      :parts: 1
      :private-bases:


   Defines a desired nominal placement/pose in world coordinates with a tolerance around.

   A tolerated placement defines a nominal placement and a volume around it which is considered valid.

   :param nominal: The nominal placement, either as a frame or a transformation assumed to be relative to the world
       frame.
   :param tolerance: The tolerance around the nominal placement. Can be any cartesian or rotation tolerance.
       Defaults to a narrow spatial tolerance.


   .. py:method:: __eq__(other)

      Compares tolerated poses



   .. py:method:: __getitem__(item)

      Indexing a ToleratedPose defaults to indexing the nominal placement



   .. py:method:: __getstate__()

      Return objects which will be pickled and saved.



   .. py:method:: __repr__()

      Make human-readable in debugger, etc.



   .. py:method:: __set_tolerance(value)

      Type checking before setting the tolerance.



   .. py:method:: __setstate__(state)

      Take object from parameter and use it to retrieve class state.



   .. py:method:: __str__()

      Make human-readable.



   .. py:method:: _deduce_package_dir(filepath, content)
      :staticmethod:


      Logic for deducing the package directory if the JSONable object is loaded from a file.

      :param filepath: The path to the file.
      :param content: The content of the file parsed into a dictionary.
      :note: This method can be overridden by subclasses to provide custom package directory resolution; e.g. Task.py.



   .. py:method:: from_json_data(d, *args, **kwargs)
      :classmethod:


      Create a ToleratedPose from a json description.

      :param d: A json description as defined in the task documentation.
      :param kwargs:
        * 'frameName': The name of the nominal frame.
        * 'frames': A FrameTree to resolve add / find the nominal frame.
        * 'annonymousFrame': If True, the nominal frame will not be added to the FrameTree.
      :return: A ToleratedPose.



   .. py:method:: from_json_file(filepath, *args, **kwargs)
      :classmethod:


      Factory method to load a class instance from a json file.

      :param filepath: The path to the json file.
      :param args: Additional arguments to pass to the from_json_data factory method of the specific class.
      :param kwargs: Additional arguments to pass to the from_json_data factory method of the specific class.



   .. py:method:: from_json_string(s, *args, **kwargs)
      :classmethod:


      Create from a json string.



   .. py:attribute:: nominal
      :type:  timor.utilities.frames.Frame


   .. py:method:: to_json_data()

      The json-compatible serialization of a placement with tolerance



   .. py:method:: to_json_file(save_at, *args, **kwargs)

      Writes the instance to a json file.

      :param save_at: File location or folder to write the class to.



   .. py:method:: to_json_string()

      Returns the json string representation of this placement.



   .. py:property:: tolerance
      :type: timor.task.Tolerance.ToleranceBase


      The tolerances of the placement.



   .. py:method:: valid(other)

      Returns whether the placement 'other' is within the tolerance of self.

      :param other: The placement to compare to.
      :return: True if the other is valid with regard to self, False otherwise.



   .. py:method:: visualize(viz, name, scale = 1.0, **kwargs)

      Draws this placement inside the visualizer object

      For detailed kwargs refer to Transformation::visualize