Class Article

About :

A class modelling any item in an assembly tree from root assembly to part sheet. The article is the main node of a bill of material, ie: a hierachy of assembly, subassembly, …, part.

Functions

Methods desciption :

init

def __init__(self)

Generator of an article

Atributes

• _name : article name
• _color : a 4-tuple providing the color of the article (Red, Green, Blue, alpha). Values in [0,1]
• _hidden : boolean : the article should be hidden
• _father : the parent article
• _locked : boolean : if True the article cannot be manipulated (moved)
• _bounding_box : a 6-tuple of float (xmin,ymin,zmin,Xmax,Ymax,Zmax)
• _position : 4x4 transformation matrix _ _frame : the position stored at a frame index : dictionnary

duplicate

def duplicate(self, DICT={})

Duplicate an article. copy every data and return a new identical article

• → DICT: complete a dictionary linking the current article to its copy
• ← new,DICT

set_name

def set_name(self, name)

set the article name

• → name: new name

set_father

def set_father(self, father=None)

set the article father

• → father: another article

get_father

def get_father(self)

Get the article father

• ← the direct father

get_fathers

def get_fathers(self, L=[])

Get the article fathers It is a recursive function : L is completed and returned

• ← the list of fathers. The completed L list

if len(L) :
	L[0] the direct father
	L[-1] is the root father

get_root

def get_root(self)

Get Root Node

• ← the root article of the BOM hierarchy

get_path

def get_path(self)

The path is a list of integer from the Mechanism

• ← the path as a list of indexes,the root node

get_global_position

def get_global_position(self)

Get the position in the global frame of the scene

• ← the expected transformation matrix

set_global_position

def set_global_position(self, position=((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1)))

Set the position in the global frame

Based on the global positionn the function recompute the local position respect to the father, and set this position to the current node.

• → position:

get_position

def get_position(self)

Get the local position respect to its father

• ← local position

set_position

def set_position(self, position=((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1)))

Set the local position

• → position: local position : default = identity matrix

save_frame

def save_frame(self, frame='', previous=None, sequence=None)

Save the current frame

• → frame: frame name
• → previous: previous frame
• → sequence: list of sequence frame
• ← None

goto_frame

def goto_frame(self, frame='')

Set position for expected frame

• → frame: expected framee

center

def center(self)

get the center of an article center of article bounding box

• ← 3-tuple

get_pixmap

def get_pixmap(self)

Get reference pixmap for GUI

• ← a pixmap name

lock

def lock(self)

Set lock status to True When an article is locked sub-articles are considered as fixed. They cannot be selected or dragged individually

lock_all

def lock_all(self)

Recursive lock status to True for all children

unlock

def unlock(self)

Set lock status to False When an article is locked sub-articles are considered as fixed. They cannot be selected or dragged individually

is_locked

def is_locked(self)

Returns either article is locked or not When an article is locked sub-articles are considered as fixed. They cannot be selected or dragged individually

• ← locked status

is_hidden

def is_hidden(self)

if the article is hidden or visible

• ← hidden state

update_bounding_box

def update_bounding_box(self)

get_bounding_box

def get_bounding_box(self, frame=0)

Returns the bounding box in various frame

• → frame :
• 0 in its own local frame
• 1 in the local frame of its fathe
• 2 in the global local frame
• ←s: bounding box as a 6-tuple : (x,y,z,X,Y,Z)

urdf_string

def urdf_string(self, where='', urdf='')

Complete urdf string with the content of the current article description

• → where: the location where wavefront files should be saved
• → urdf: the text to be completed
• ← the completed urdf string

urdf_joint_string

def urdf_joint_string(self, urdf='')

Complete urdf string for the current joint

• → urdf: the string to be completed
• ← the completed string

get_euler_position

def get_euler_position(self, local=True)

Convert the position to Translation, Euler angles, and Scale

• → local: either local or global position must be returned
• ← T,E,S : translation, euler angle, scale factor

get_quaternion_position

def get_quaternion_position(self, local=True)

Convert the position to Translation, Quaternion , and Scale

• → local: either local or global position must be returned
• ← position,S,T,R,Q : position, scale, translation, rotation matrix, quaternion

set_position_from_quaternion

def set_position_from_quaternion(self, T, Q)

Set local position from a translation and quaternion

• → T: translation
• → Q: quaternion