Source code for as2_python_api.shared_data.twist_data

"""Twist data wrapper."""

from __future__ import annotations

# 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
import threading
from typing import Callable, List

lock = threading.Lock()


[docs] def lock_decor(func: Callable) -> Callable: """Locker.""" def wrapper(self, *args, **kwargs) -> Callable: with lock: return func(self, *args, **kwargs) return wrapper
[docs] @dataclass class TwistData: """Twist data [vx, vy, vz].""" __vx: float = field(default_factory=lambda: float('nan')) __vy: float = field(default_factory=lambda: float('nan')) __vz: float = field(default_factory=lambda: float('nan')) def __repr__(self) -> str: twist = self.twist return f'[{twist[0]}, {twist[1]}, {twist[2]}]' @property @lock_decor def twist(self) -> List[float]: """Locked getter.""" return [self.__vx, self.__vy, self.__vz] @twist.setter @lock_decor def twist(self, twist_: List[float]) -> None: """Locked setter.""" self.__vx = twist_[0] self.__vy = twist_[1] self.__vz = twist_[2]