semantic_world.geometry

Attributes

id_generator

Classes

Color	Dataclass for storing rgba_color as an RGBA value.
Scale	Dataclass for storing the scale of geometric objects.
Shape	Base class for all shapes in the world.
Mesh	A mesh shape.
Primitive	A primitive shape.
Sphere	A sphere shape.
Cylinder	A cylinder shape.
Box	A box shape. Pivot point is at the center of the box.

Module Contents

semantic_world.geometry.id_generator

class semantic_world.geometry.Color

Dataclass for storing rgba_color as an RGBA value. The values are stored as floats between 0 and 1. The default rgba_color is white.

R: float = 1

Red value of the color.

G: float = 1

Green value of the color.

B: float = 1

Blue value of the color.

A: float = 1

Opacity of the color.

class semantic_world.geometry.Scale

Dataclass for storing the scale of geometric objects.

x: float = 1.0

The scale in the x direction.

y: float = 1.0

The scale in the y direction.

z: float = 1.0

The scale in the z direction.

class semantic_world.geometry.Shape

Bases: abc.ABC

Base class for all shapes in the world.

origin: semantic_world.spatial_types.TransformationMatrix

class semantic_world.geometry.Mesh

Bases: Shape

A mesh shape.

filename: str = ''

Filename of the mesh.

scale: Scale

Scale of the mesh.

property mesh: trimesh.Trimesh

The mesh object.

class semantic_world.geometry.Primitive

Bases: Shape

A primitive shape.

color: Color

class semantic_world.geometry.Sphere

Bases: Primitive

A sphere shape.

radius: float = 0.5

Radius of the sphere.

class semantic_world.geometry.Cylinder

Bases: Primitive

A cylinder shape.

width: float = 0.5

height: float = 0.5

class semantic_world.geometry.Box

Bases: Primitive

A box shape. Pivot point is at the center of the box.

scale: Scale