viam.components.pose_tracker.pose_tracker
Classes
PoseTracker represents a physical pose or motion tracking device. |
Module Contents
- class viam.components.pose_tracker.pose_tracker.PoseTracker(name: str, *, logger: logging.Logger | None = None)[source]
Bases:
viam.components.component_base.ComponentBase
PoseTracker represents a physical pose or motion tracking device.
This acts as an abstract base class for any drivers representing specific pose tracker implementations. This cannot be used on its own. If the
__init__()
function is overridden, it must call thesuper().__init__()
function.- SUBTYPE: Final
The Subtype of the Resource
- abstract get_poses(body_names: List[str], *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) Dict[str, viam.proto.common.PoseInFrame] [source]
- Async:
Returns the current pose of each body tracked by the pose tracker.
- Parameters:
body_names (List[str]) – Names of the bodies whose poses are being requested. In the event this parameter is not supplied or is an empty list, all available poses are returned.
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the component named
name
from the provided robot.- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the component
- Returns:
The component, if it exists on the robot
- Return type:
Self
- abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
- Async:
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = await component.do_command(command)
- Parameters:
command (Mapping[str, ValueTypes]) – The command to execute
- Raises:
NotImplementedError – Raised if the Resource does not support arbitrary commands
- Returns:
Result of the executed command
- Return type:
Mapping[str, ValueTypes]
- async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]
Get all geometries associated with the component, in their current configuration, in the frame of the component.
geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
- Returns:
The geometries associated with the Component.
- Return type:
List[Geometry]
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
Get the ResourceName for this Resource with the given name
# Can be used with any resource, using an arm as an example my_arm_name = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- get_operation(kwargs: Mapping[str, Any]) viam.operations.Operation
Get the
Operation
associated with the currently running function.When writing custom resources, you should get the
Operation
by calling this function and check to see if it’s cancelled. If theOperation
is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).- Parameters:
kwargs (Mapping[str, Any]) – The kwargs object containing the operation
- Returns:
The operation associated with this function
- Return type:
- async close()
Safely shut down the resource and prevent further use.
Close must be idempotent. Later configuration may allow a resource to be “open” again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called.
await component.close()