.. _package-rst-scene:
===================
Package rst.scene
===================
This package contains data type definitions that describe
arrangements and properties of objects in three dimensional scenes.
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/graphs.css";
node [fontsize=11,fontname="Arial"]
edge [fontsize=11,fontname="Arial"]
"2" [label=< | SceneObjects |
|
| SceneObject | scene_object |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | SceneObject |
|
| ASCII-STRING | name |
| ASCII-STRING | kind |
| Pose | center |
| Shape3DFloat | shape |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | Shape3DFloat |
|
| BoundingBox3DFloat | box |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | BoundingBox3DFloat |
|
| Pose | transformation |
| FLOAT32 | width |
| FLOAT32 | depth |
| FLOAT32 | height |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | Pose |
|
| Translation | translation |
| Rotation | rotation |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | Rotation |
|
| FLOAT64 | qw |
| FLOAT64 | qx |
| FLOAT64 | qy |
| FLOAT64 | qz |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | SceneObjectQuery |
|
| ASCII-STRING | name_filter |
| ASCII-STRING | kind_filter |
>,shape=box,style=filled,fillcolor="white"];
"2":scene_object -> "3" [];
"3":shape -> "7" [];
"3":center -> "4" [];
"7":box -> "8" [];
"8":transformation -> "4" [];
"4":rotation -> "6" [];
"4":translation -> "5" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`SceneObjectQuery `
* :ref:`SceneObjects `
* :ref:`SceneObject `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-scene-sceneobjectquery:
Message SceneObjectQuery
------------------------
.. container:: message-rst-scene-sceneobjectquery-multi
.. container:: message-rst-scene-sceneobjectquery-documentation
.. py:class:: rst.scene.SceneObjectQuery
Query specification for selecting scene object by name and/or kind.
.. codeauthor:: David Klotz
.. py:attribute:: name_filter
:type: :py:class:`ASCII-STRING`
Regular expression selecting only objects with matching names.
.. py:attribute:: kind_filter
:type: :py:class:`ASCII-STRING`
Regular expression selecting only objects with matching kinds.
Hint: to match multiple object kinds in a query, use the
regular expression construct:
(KIND1|KIND2|...)
.. container:: message-rst-scene-sceneobjectquery-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/scene/SceneObjectQuery.proto
:lines: 12-29
:language: protobuf
:emphasize-lines: 6-6,16-16
.. _message-rst-scene-sceneobjects:
Message SceneObjects
--------------------
.. container:: message-rst-scene-sceneobjects-multi
.. container:: message-rst-scene-sceneobjects-documentation
.. py:class:: rst.scene.SceneObjects
A set of scene objects.
.. codeauthor:: David Klotz
.. py:attribute:: scene_object
:type: array of :py:class:`rst.scene.SceneObject`
The set of scene objects.
Empty collection of scene objects is allowed.
The order of scene objects is not significant.
.. container:: message-rst-scene-sceneobjects-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/scene/SceneObjects.proto
:lines: 14-25
:language: protobuf
:emphasize-lines: 10-10
.. _message-rst-scene-sceneobject:
Message SceneObject
-------------------
.. container:: message-rst-scene-sceneobject-multi
.. container:: message-rst-scene-sceneobject-documentation
.. py:class:: rst.scene.SceneObject
Geometry and location within a 3D scene of an uniquely identifiable
object.
.. codeauthor:: David Klotz
.. py:attribute:: name
:type: :py:class:`ASCII-STRING`
A unique name.
.. py:attribute:: kind
:type: :py:class:`ASCII-STRING`
The kind of the object, e.g.: "chair", "painting", etc.
.. py:attribute:: center
:type: :py:class:`rst.geometry.Pose`
Geometrical object position and orientation in the world
coordinate system.
.. py:attribute:: shape
:type: :py:class:`rst.geometry.Shape3DFloat`
Geometric shape of the object.
All transformations are relative to :py:attr:`center `.
.. container:: message-rst-scene-sceneobject-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/scene/SceneObject.proto
:lines: 16-41
:language: protobuf
:emphasize-lines: 6-6,11-11,17-17,24-24