pyrcf.components.callback_handlers.pb_gui_callbacks
===================================================

.. py:module:: pyrcf.components.callback_handlers.pb_gui_callbacks


Attributes
----------

.. autoapisummary::

   pyrcf.components.callback_handlers.pb_gui_callbacks.QuatType
   pyrcf.components.callback_handlers.pb_gui_callbacks.Vector3D


Classes
-------

.. autoapisummary::

   pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUICallback
   pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUISliderCallback
   pyrcf.components.callback_handlers.pb_gui_callbacks.PbMultiGUISliderSingleCallback
   pyrcf.components.callback_handlers.pb_gui_callbacks.PbGUIButtonCallback
   pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugFrameVizCallback
   pyrcf.components.callback_handlers.pb_gui_callbacks.PbDebugPointsCallback


Module Contents
---------------

.. py:data:: QuatType
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating quaternion in format [x,y,z,w]

.. py:data:: Vector3D
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating 3D cartesian vector in format [x,y,z]

.. py:class:: PbGUICallback

   Bases: :py:obj:`pyrcf.components.callback_handlers.base_callbacks.CustomCallbackBase`


   Abstraction for all GUICallbacks defined using Pybullet GUI.


.. py:class:: PbGUISliderCallback(slider_name: str, slider_lower_lim: float, slider_upper_lim: float, slider_default_val: float, callback: Callable[[float], None], cid: int, run_only_if_value_changed: bool = True, mapping_function: Callable[[float], float] = lambda x: x)

   Bases: :py:obj:`PbGUICallback`


   Create a slider in pybullet and specify the callback to apply the slider value to.


   .. py:attribute:: _slider


   .. py:attribute:: _check_first
      :value: True



   .. py:attribute:: _callback


   .. py:method:: run_once() -> None

      This method has to be called for the callback to be executed.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.



.. py:class:: PbMultiGUISliderSingleCallback(slider_names: List[str], slider_lower_lims: List[float], slider_upper_lims: List[float], slider_default_vals: List[float], callback: Callable[[List[float]], None], cid: int, run_only_if_value_changed: bool = True, mapping_functions: Callable[[float], float] | List[Callable[[float], float]] = lambda x: x)

   Bases: :py:obj:`PbGUICallback`


   Create multiple sliders in pybullet and use values from all the sliders in a single
   callback.


   .. py:attribute:: _sliders
      :type:  List[pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider]
      :value: []



   .. py:attribute:: _check_first
      :value: True



   .. py:attribute:: _callback


   .. py:method:: run_once()

      This method has to be called for the callback to be executed.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.



   .. py:method:: get_sliders() -> List[pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider]

      Get a list of all slider objects.

      :returns: List of slider objects.
      :rtype: List[PybulletGUISlider]



.. py:class:: PbGUIButtonCallback(button_name: str, callback: Callable[[], None], cid: int)

   Bases: :py:obj:`PbGUICallback`


   Create a button in pybullet and specify the callback to apply the slider value to.


   .. py:attribute:: _button


   .. py:attribute:: _callback


   .. py:method:: run_once()

      This method has to be called for checking button press and for the
      callback to be executed.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.



.. py:class:: PbDebugFrameVizCallback(callback: Callable[[], Tuple[Vector3D, QuatType]], cid: int, line_length: float = 0.2, line_width: float = 2, duration: float = 0.0)

   Bases: :py:obj:`PbGUICallback`


   Draw a coordinate frame in pybullet that changes its pose based on the pose
   returned by a callback function.


   .. py:attribute:: _frame_viz


   .. py:attribute:: _callback


   .. py:method:: run_once()

      This method has to be called for for getting the pose from the callback
      function and updating the frame visualiser's pose.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.



.. py:class:: PbDebugPointsCallback(callback: Callable[[], List[Vector3D]], cid: int, point_positions: List[Vector3D] = None, point_size: float = 1.0, rgb: Tuple[float, float, float] = (1, 0, 0), lifetime: float = 0.0)

   Bases: :py:obj:`PbGUICallback`


   Visualise point(s)/sphere(s) in pybullet exposing a callback to change its position
   in the world.


   .. py:attribute:: _points_viz


   .. py:attribute:: _callback


   .. py:method:: run_once()

      To be called in loop.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.