devkit_ui.models

Classes

TopoDoc(name[, nodes, metric_map, pointset, ...])	Represents a topo document.
TopoEdge(action, edge_id, node)	Represents an edge between two topo nodes.
TopoNode(name[, pointset, nav_frame, edges, ...])	Represents a topo node.
TopoPose(**kwargs)	Represents a point's pose in 3D space.
TopoProperties([xy_goal_tolerance, ...])	Contains a set of properties for a topo node.
Vector2(x, y)	Represents a 2D vector.
Vector3(x, y[, z])	Represents a 3D vector.
Vector4(x, y[, z, w])	Represents a 4D vector.

class devkit_ui.models.TopoDoc(name: str, nodes: list[TopoNode] | list[dict] | None = None, metric_map: str | None = None, pointset: str | None = None, meta: dict | None = None, actions: dict | None = None, definitions: dict | None = None, transformation: dict | None = None)

Bases: object

Represents a topo document.

__init__(name: str, nodes: list[TopoNode] | list[dict] | None = None, metric_map: str | None = None, pointset: str | None = None, meta: dict | None = None, actions: dict | None = None, definitions: dict | None = None, transformation: dict | None = None) → None

Build a TopoDoc, indexing any provided nodes by name.

property actions: dict

add_node(node: TopoNode) → None

clone_empty(map_name: str | None = None) → TopoDoc

Clones the document and returns a new document with no nodes. Retains metadata, actions, definitions, and transformation.

property definitions: dict

ensure_meta(map_name: str | None) → None

Ensures that the metadata on the document is valid.

get_node(name: str) → TopoNode

has_node(name: str) → bool

insert_node(node: TopoNode) → None

Add a node exactly as given, with no reverse-edge backfill.

Unlike add_node(), which assumes it’s dropping a single node onto an existing graph and back-fills the reverse edge on each neighbour, this is for callers that pass in nodes whose edges are already fully and correctly wired (in both directions, where that’s wanted) before the call — e.g. a batch of new nodes that reference each other. add_node() would KeyError on a sibling not yet inserted, and would silently add reverse edges the caller didn’t ask for onto pre-existing nodes.

property name: str

property nodes: Iterator[TopoNode]

remove_node(name: str) → None

remove_nodes(names: set[str]) → None

seed_actions(actions: dict, definitions: dict) → None

Backfill actions/definitions from a template doc (e.g. the installed mixed_actions_map.yaml) when this doc has none of its own. Used when clearing/re-seeding a map that was itself loaded from an actions-less authored source, so navigation2.py always gets a real NavigateToPose/limbic_row_follow action config instead of silently running with none.

to_dict() → dict

property transformation: dict

class devkit_ui.models.TopoEdge(action: str, edge_id: str, node: str)

Bases: NamedTuple

Represents an edge between two topo nodes.

Note that these are not standalone, they are always part of a TopoNode in order to know what the two nodes are that are being connected.

action: str

Alias for field number 0

edge_id: str

Alias for field number 1

node: str

Alias for field number 2

class devkit_ui.models.TopoNode(name: str, pointset: str | None = None, nav_frame: str | None = None, edges: list[TopoEdge | str] | None = None, x: float | None = None, y: float | None = None, pose: TopoPose | None = None, properties: TopoProperties | None = None, verts: list[Vector2] | None = None, meta: dict | None = None)

Bases: object

Represents a topo node.

__init__(name: str, pointset: str | None = None, nav_frame: str | None = None, edges: list[TopoEdge | str] | None = None, x: float | None = None, y: float | None = None, pose: TopoPose | None = None, properties: TopoProperties | None = None, verts: list[Vector2] | None = None, meta: dict | None = None) → None

Constructs a new topo node.

For convenience you can pass in an x/y pair instead of a full pose.

add_edge(edge: TopoEdge | str, action: str | None = None) → None

add_metadata(**kwargs: dict) → None

property edges: Iterator[TopoEdge]

ensure_meta(map_name: str) → None

Ensures that the metadata on the node is valid.

is_connected_to(node_id: str) → bool

property meta: dict

property name: str

patch_role(role: str) → None

remove_edge(node_id: str) → None

remove_edges(node_ids: set[str]) → None

to_dict() → dict

property x: float

property y: float

class devkit_ui.models.TopoPose(**kwargs)

Bases: object

Represents a point’s pose in 3D space.

property orientation: Vector4

property position: Vector3

to_dict() → dict

class devkit_ui.models.TopoProperties(xy_goal_tolerance: float = 0.0, yaw_goal_tolerance: float = 0.0, dropped_by: str = '', timestamp: datetime | None = None, row_id: str = '', row_role: str = '', gps_lat: float = 0.0, gps_lon: float = 0.0, gps_fix_type: int = 0, gps_hdop: float | None = None)

Bases: NamedTuple

Contains a set of properties for a topo node.

dropped_by: str

Alias for field number 2

gps_fix_type: int

Alias for field number 8

gps_hdop: float | None

Alias for field number 9

gps_lat: float

Alias for field number 6

gps_lon: float

Alias for field number 7

row_id: str

Alias for field number 4

row_role: str

Alias for field number 5

timestamp: datetime | None

Alias for field number 3

xy_goal_tolerance: float

Alias for field number 0

yaw_goal_tolerance: float

Alias for field number 1

class devkit_ui.models.Vector2(x: float, y: float)

Bases: NamedTuple

Represents a 2D vector.

x: float

Alias for field number 0

y: float

Alias for field number 1

class devkit_ui.models.Vector3(x: float, y: float, z: float = 0.0)

Bases: NamedTuple

Represents a 3D vector.

x: float

Alias for field number 0

y: float

Alias for field number 1

z: float

Alias for field number 2

class devkit_ui.models.Vector4(x: float, y: float, z: float = 0.0, w: float = 1.0)

Bases: NamedTuple

Represents a 4D vector.

w: float

Alias for field number 3

x: float

Alias for field number 0

y: float

Alias for field number 1

z: float

Alias for field number 2