Package pydoc for smartbot_irl.data

smartbot_irl.data

Functions

smartbot_irl.data.list_sensor_columns	Return top-level keys from flatten().
smartbot_irl.data.timestamp

Classes

smartbot_irl.data.ArucoMarkers	ArucoMarkers(poses: 'List[Pose]' = <factory>, marker_ids: 'List[int]' = <factory>)
smartbot_irl.data.Pose	Generic pose with position, quaternion orientation, and roll pitch yaw angles.
smartbot_irl.data.LaserScan	Represents a 2D planar laser scan message.
smartbot_irl.data.PoseArray	PoseArray(poses: 'List[Pose]' = <factory>)
smartbot_irl.data.IMU	IMU(qx: 'float' = 0.0, qy: 'float' = 0.0, qz: 'float' = 0.0, qw: 'float' = 1.0, roll: 'float' = 0.0, pitch: 'float' = 0.0, yaw: 'float' = 0.0, wx: 'float' = 0.0, wy: 'float' = 0.0, wz: 'float' = 0.0, ax: 'float' = 0.0, ay: 'float' = 0.0, az: 'float' = 0.0)
smartbot_irl.data.Bool	Bool(data: 'bool' = False)
smartbot_irl.data.State	State()
smartbot_irl.data.JointState	JointState(names: 'List[str]' = <factory>, positions: 'List[float]' = <factory>, velocities: 'List[float]' = <factory>)

Function Details

smartbot_irl.data.list_sensor_columns()

Return top-level keys from flatten().

Return type:

list[str]

smartbot_irl.data.timestamp()

Class Details

class smartbot_irl.data.ArucoMarkers(poses: 'List[Pose]' = <factory>, marker_ids: 'List[int]' = <factory>)

Bases: object

Parameters:

• poses (List[Pose])

• marker_ids (List[int])

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

Return type:

dict[str, Any]

marker_ids: List[int]

poses: List[Pose]

ros_type = 'ros2_aruco_interfaces/ArucoMarkers'

class smartbot_irl.data.Pose(x=0.0, y=0.0, z=0.0, qx=0.0, qy=0.0, qz=0.0, qw=1.0, roll=0.0, pitch=0.0, yaw=0.0)

Bases: object

Generic pose with position, quaternion orientation, and roll pitch yaw angles.

Maps to ROS2 message``geometry_msgs/Pose``. Has RPY angles for convenience.

Parameters:

• x (float)

• y (float)

• z (float)

• qx (float)

• qy (float)

• qz (float)

• qw (float)

• roll (float)

• pitch (float)

• yaw (float)

x(float)

Type:

Position along the X-axis in meters.

y(float)

Type:

Position along the Y-axis in meters.

z(float)

Type:

Position along the Z-axis in meters.

qx(float)

Type:

Quaternion X component.

qy(float)

Type:

Quaternion Y component.

qz(float)

Type:

Quaternion Z component.

qw(float)

Type:

Quaternion W component.

roll(float)

Type:

Roll angle in radians.

pitch(float)

Type:

Pitch angle in radians.

yaw(float)

Type:

Yaw angle in radians.

classmethod from_ros(msg)

Create a Pose from a ROS geometry_msgs/Pose msg.

The method extracts the position and orientation fields, converts the quaternion to roll–pitch–yaw using scipy.spatial.transform.Rotation, and returns a populated Pose.

Parameters:

• (dict) (msg)

• keys (message with``position`` and orientation)

• msg (dict)

Returns:

Pose

Return type:

Parsed pose instance.

to_ros()

Create a geometry_msgs/Pose from a ROS Pose msg.

The method extracts the position and orientation fields, then builds a dict matching the ROS2 geometry_msgs/Pose message structure.

Returns:

Dict mirroring ROS2 geometry_msgs/Pose message structure.

Return type:

dict[str, dict[str, float]]

Example

>>> p = Pose(x=1.0, y=2.0, yaw=3.14)
>>> ros = p.to_ros()

pitch: float = 0.0

qw: float = 1.0

qx: float = 0.0

qy: float = 0.0

qz: float = 0.0

roll: float = 0.0

ros_type = 'geometry_msgs/Pose'

x: float = 0.0

y: float = 0.0

yaw: float = 0.0

z: float = 0.0

class smartbot_irl.data.LaserScan(ranges=<factory>, angle_min=0.0, angle_max=0.0, angle_increment=0.0)

Bases: object

Represents a 2D planar laser scan message.

This class mirrors the fields of the ros2 msg sensor_msgs/LaserScan and provides conversion helpers to and from ROS dictionary form.

Parameters:

• ranges (List[float])

• angle_min (float)

• angle_max (float)

• angle_increment (float)

ros_type

The ROS message type string (“sensor_msgs/LaserScan”).

Type:

str

ranges

Range readings from the laser in meters. Each value corresponds to a beam.

Type:

list of float

angle_min

Start angle of the scan, in radians (usually negative).

Type:

float

angle_max

End angle of the scan, in radians.

Type:

float

angle_increment

Angular distance between successive measurements, in radians.

Type:

float

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

angle_increment: float = 0.0

angle_max: float = 0.0

angle_min: float = 0.0

ranges: List[float]

ros_type = 'sensor_msgs/LaserScan'

class smartbot_irl.data.PoseArray(poses: 'List[Pose]' = <factory>)

Bases: object

Parameters:

poses (List[Pose])

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

poses: List[Pose]

ros_type = 'geometry_msgs/PoseArray'

class smartbot_irl.data.IMU(qx: 'float' = 0.0, qy: 'float' = 0.0, qz: 'float' = 0.0, qw: 'float' = 1.0, roll: 'float' = 0.0, pitch: 'float' = 0.0, yaw: 'float' = 0.0, wx: 'float' = 0.0, wy: 'float' = 0.0, wz: 'float' = 0.0, ax: 'float' = 0.0, ay: 'float' = 0.0, az: 'float' = 0.0)

Bases: object

Parameters:

• qx (float)

• qy (float)

• qz (float)

• qw (float)

• roll (float)

• pitch (float)

• yaw (float)

• wx (float)

• wy (float)

• wz (float)

• ax (float)

• ay (float)

• az (float)

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

ax: float = 0.0

ay: float = 0.0

az: float = 0.0

pitch: float = 0.0

qw: float = 1.0

qx: float = 0.0

qy: float = 0.0

qz: float = 0.0

roll: float = 0.0

ros_type = 'sensor_msgs/Imu'

wx: float = 0.0

wy: float = 0.0

wz: float = 0.0

yaw: float = 0.0

class smartbot_irl.data.Bool(data: 'bool' = False)

Bases: object

Parameters:

data (bool)

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

data: bool = False

ros_type = 'std_msgs/Bool'

class smartbot_irl.data.State

Bases: object

append_row(rowdict)

Parameters:

rowdict (dict)

property last: SimpleNamespace

next_index: int = 0

state_vec: DataFrame

class smartbot_irl.data.JointState(names: 'List[str]' = <factory>, positions: 'List[float]' = <factory>, velocities: 'List[float]' = <factory>)

Bases: object

Parameters:

• names (List[str])

• positions (List[float])

• velocities (List[float])

classmethod from_ros(msg)

Parameters:

msg (dict)

to_ros()

names: List[str]

positions: List[float]

ros_type = 'sensor_msgs/JointState'

velocities: List[float]