pyrcf.components.callback_handlers.pb_gui_utils
===============================================

.. py:module:: pyrcf.components.callback_handlers.pb_gui_utils


Attributes
----------

.. autoapisummary::

   pyrcf.components.callback_handlers.pb_gui_utils.QuatType
   pyrcf.components.callback_handlers.pb_gui_utils.Vector3D


Classes
-------

.. autoapisummary::

   pyrcf.components.callback_handlers.pb_gui_utils.PybulletGUIButton
   pyrcf.components.callback_handlers.pb_gui_utils.PybulletGUISlider
   pyrcf.components.callback_handlers.pb_gui_utils.PybulletDebugFrameViz
   pyrcf.components.callback_handlers.pb_gui_utils.PybulletText
   pyrcf.components.callback_handlers.pb_gui_utils.PybulletTextWithRateTrigger
   pyrcf.components.callback_handlers.pb_gui_utils.PybulletDebugPoints


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:: PybulletGUIButton(name: str, cid: int)

   Create a button in Pybullet GUI, and check if it was pressed.
   Meant to be used in a loop.


   .. py:attribute:: cid


   .. py:attribute:: _id


   .. py:attribute:: _val
      :value: 1



   .. py:method:: reset()

      Not really useful anymore (legacy)



   .. py:method:: was_pressed() -> bool

      Checks if this button was pressed since the last time this method was called.



   .. py:method:: remove()

      Remove the button from the gui.



.. py:class:: PybulletGUISlider(name: str, lower_lim: float, upper_lim: float, default_val: float, cid: int, mapping_function: Callable[[float], float] = lambda x: x)

   Create a slider gui in pybullet.


   .. py:attribute:: cid


   .. py:attribute:: _id


   .. py:attribute:: _mapping_function


   .. py:attribute:: _last_recorded_val
      :value: None



   .. py:method:: get_value() -> float

      Read the value from the slider gui.



   .. py:property:: last_read_value
      :type: float



   .. py:method:: value_changed() -> bool


   .. py:method:: remove()

      Remove the slider from gui.



   .. py:method:: set_value(value: float)
      :abstractmethod:



.. py:class:: PybulletDebugFrameViz(cid: int, position: Vector3D = None, orientation: QuatType = np.array([0, 0, 0, 1]), line_length: float = 0.2, line_width: float = 2, duration: float = 0.0, draw_at_init: bool = True)

   Draw a coordinate frame in pybullet as specified pose in the world.


   .. py:attribute:: _len


   .. py:attribute:: _lw


   .. py:attribute:: _duration


   .. py:attribute:: _cid


   .. py:attribute:: _line_ids


   .. py:method:: _draw_lines(pos: Vector3D, ori: QuatType)


   .. py:method:: update_frame_pose(position: Vector3D, orientation: QuatType)

      Update the pose of an existing frame viz in pybullet.

      :param position: Position of coordinate frame in world.
      :type position: Vector3D
      :param orientation: Orientation quaternion of the frame in the world.
      :type orientation: QuatType



   .. py:method:: remove()

      Remove the frame viz from gui.



.. py:class:: PybulletText(text_position: Tuple[float, float, float], default_text: str = '', text_color: Tuple[float, float, float] = (0, 0, 0), text_size: float = 3.0, lifetime: float = 0.0, cid: int = 0)

   Add text to pybullet sim world gui.


   .. py:attribute:: cid


   .. py:attribute:: _pos


   .. py:attribute:: _color


   .. py:attribute:: _size


   .. py:attribute:: _t


   .. py:attribute:: _id


   .. py:method:: update_text(text: str)

      Update the text string for this debug object.

      :param text: The new text to replace with.
      :type text: str



   .. py:method:: remove()

      Remove text from pybullet.



.. py:class:: PybulletTextWithRateTrigger(text_position: Tuple[float, float, float], rate: float = 1, default_text: str = '', text_color: Tuple[float, float, float] = (0, 0, 0), text_size: float = 3.0, lifetime: float = 0.0, cid: int = 0)

   Bases: :py:obj:`PybulletText`


   Add text to pybullet sim world gui, that will only change at the
   specified rate (even if `update_text` is called at a higher frequency).
   This is useful if this method is called in a high frequency loop such as
   a control loop, and text has to be rendered only at a lower frequency.


   .. py:attribute:: _trigger


   .. py:method:: update_text(text: str)

      Update the text string for this debug object. Will only be triggered if the specified
      rate is satisified (lower bound).

      :param text: The new text to replace with.
      :type text: str



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

   Add 3D points to pybullet sim world gui.


   .. py:attribute:: _lifetime


   .. py:attribute:: _size


   .. py:attribute:: _rgb


   .. py:attribute:: _cid


   .. py:attribute:: _points_id


   .. py:method:: _draw_points(point_positions: List[Vector3D])


   .. py:method:: update_point_positions(point_positions: List[Vector3D])

      Update the positions of the debug points in pybullet.

      :param point_positions: List of positions for the points in world.
      :type point_positions: List[Vector3D]



   .. py:method:: remove()

      Remove the debug points object from pybullet.