Welcome to dynamic-graph-python’s documentation!¶
Python module dynamic_graph implements bindings for dynamic-graph library. To each main C++ class is associated a Python class. Main classes are listed below.
Entity¶
maps dynamicgraph::Entity C++ class.
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class
dynamic_graph.entity.
Entity
(className, instanceName)¶ This class binds dynamicgraph::Entity C++ class
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boundAllNewCommands
()¶ For all commands that are not attribute of the object instance nor of the class, a new attribute of the instance is created to bound the command.
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boundClassCommands
()¶ This static function has to be called from a class heritating from Entity. It should be called only once. It parses the list of commands obtained from c++, and bind each of them to a python class method.
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boundNewCommand
(cmdName)¶ At construction, all existing commands are bound directly in the class. This method enables to bound new commands dynamically. These new bounds are not made with the class, but directly with the object instance.
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commands
()¶ Return the list of commands.
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displaySignals
()¶ Print the list of signals into standard output: temporary.
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getLoggerVerbosityLevel
()¶ Returns the entity’s verbosity level (as a dynamic_graph.entity.VerbosityLevel)
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getStreamPrintPeriod
()¶ Returns for the entity the period at which debugging information is printed
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getTimeSample
()¶ Returns for the entity the time at which call is counted.
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globalHelp
()¶ Print a short description of each command.
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hasSignal
(name)¶ Indicates if a signal with the given name exists in the entity
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help
(comm=None)¶ With no arg, print the global help. With arg the name of a specific command, print the help associated to the command.
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static
initEntity
(self, name)¶ Common constructor of specialized Entity classes. This function is bound by the factory to each new class derivated from the Entity class as the constructor of the new class.
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obj
= None¶ Store list of entities created via python
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setLoggerVerbosityLevel
(verbosity)¶ Specify for the entity the verbosity level. - param verbosity should be one of the attribute of the enum
dynamic_graph.entity.VerbosityLevel
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setStreamPrintPeriod
(streamPrintPeriod)¶ Specify for the entity the period at which debugging information is printed
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setTimeSample
(timeSample)¶ Specify for the entity the time at which call is counted.
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signal
(name)¶ Get a signal of the entity from signal name
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signals
()¶ Return the list of signals
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SignalBase¶
maps dynamicgraph::SignalBase C++ class.
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class
dynamic_graph.signal_base.
SignalBase
(name='', obj=None)¶ This class binds dynamicgraph::SignalBase<int> C++ class
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displayDependencies
(iter)¶ Print signal dependencies in a string
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getClassName
()¶ Get class name of signal
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getName
()¶ Get name of signal
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getPlugged
()¶ Return the plugged signal.
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isPlugged
()¶ Return whether a signal is plugged.
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name
¶ Get name of signal
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recompute
(time)¶ Force signal to recompute the value at given time.
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time
¶ Get time of signal
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unplug
()¶ Unplug a PTR signal.
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value
¶ Setter and getter for the value of a signal
Binds C++ SignalBase<int>::get() and set() methods. Values are passed through string streams. A string is interpreted as respectively: * a matrix (tuple of tuple) if string fits ‘[n,m]((x_11,x_12,…,x_1m),…,(x_n1,x_n2,…,x_nm))’ format where
n and m are integers, x_ij are floating point numbers,- a tuple if string fits ‘[n](x_1, x_2, …, x_n)’ format,
- an integer,
- a floating point number.
If string fits none of the above formats, no conversion is performed.
For instance, is s binds a signal of type vector, >>> s.value = (2.5, .1, 1e2) will call SignalBase<int>::set(“[3](2.5,0.1,100.0)”) and >>> s.value (2.5, 0.1, 100.0)
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