"""Pose data wrapper (position + orientation)."""
# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from dataclasses import dataclass, field
from typing import List
from ..shared_data.orientation_data import OrientationData
from ..shared_data.position_data import PositionData
[docs]
@dataclass
class PoseData:
"""Pose data."""
__pose: PositionData = field(default_factory=lambda: PositionData())
__orientation: OrientationData = field(
default_factory=lambda: OrientationData())
def __repr__(self) -> str:
pose = self.position
orient = self.orientation
return f'[{pose[0]}, {pose[1]}, {pose[2]}], [{orient[0]}, {orient[1]}, {orient[2]}]'
@property
def position(self) -> List[float]:
"""Position getter."""
return self.__pose.position
@position.setter
def position(self, pos: List[float]) -> None:
"""Position setter."""
self.__pose.position = pos
@property
def orientation(self) -> List[float]:
"""Orientation getter."""
return self.__orientation.orientation
@orientation.setter
def orientation(self, orient: List[float]) -> None:
"""Orientation setter."""
self.__orientation.orientation = orient