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Break up masssive python overload hacks (#1573)

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What it says on the tin. This is all stuff from our initial effort to
port the sim things. Right now it is coupled to #1557 because this fixes
things up in that. Lets merge that one before dealing with this one
This commit is contained in:
Lucien Morey
2024-11-15 09:59:55 +11:00
committed by GitHub
parent 4dc4ae88de
commit dfed7e3621
6 changed files with 158 additions and 192 deletions
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131
photon-lib/py/photonlibpy/estimation/targetModel.py
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@@ -8,86 +8,67 @@ from . import RotTrlTransform3d
class TargetModel:
def __init__(
self,
*,
width: meters | None = None,
height: meters | None = None,
length: meters | None = None,
diameter: meters | None = None,
verts: List[Translation3d] | None = None
):
def __init__(self):
self.vertices: List[Translation3d] = []
self.isPlanar = False
self.isSpherical = False
if (
width is not None
and height is not None
and length is None
and diameter is None
and verts is None
):
self.isPlanar = True
self.isSpherical = False
self.vertices = [
Translation3d(0.0, -width / 2.0, -height / 2.0),
Translation3d(0.0, width / 2.0, -height / 2.0),
Translation3d(0.0, width / 2.0, height / 2.0),
Translation3d(0.0, -width / 2.0, height / 2.0),
]
@classmethod
def createPlanar(cls, width: meters, height: meters) -> Self:
tm = cls()
return
tm.isPlanar = True
tm.isSpherical = False
tm.vertices = [
Translation3d(0.0, -width / 2.0, -height / 2.0),
Translation3d(0.0, width / 2.0, -height / 2.0),
Translation3d(0.0, width / 2.0, height / 2.0),
Translation3d(0.0, -width / 2.0, height / 2.0),
]
return tm
elif (
length is not None
and width is not None
and height is not None
and diameter is None
and verts is None
):
verts = [
Translation3d(length / 2.0, -width / 2.0, -height / 2.0),
Translation3d(length / 2.0, width / 2.0, -height / 2.0),
Translation3d(length / 2.0, width / 2.0, height / 2.0),
Translation3d(length / 2.0, -width / 2.0, height / 2.0),
Translation3d(-length / 2.0, -width / 2.0, height / 2.0),
Translation3d(-length / 2.0, width / 2.0, height / 2.0),
Translation3d(-length / 2.0, width / 2.0, -height / 2.0),
Translation3d(-length / 2.0, -width / 2.0, -height / 2.0),
]
# Handle the rest of this in the "default" case
elif (
diameter is not None
and width is None
and height is None
and length is None
and verts is None
):
self.isPlanar = False
self.isSpherical = True
self.vertices = [
Translation3d(0.0, -diameter / 2.0, 0.0),
Translation3d(0.0, 0.0, -diameter / 2.0),
Translation3d(0.0, diameter / 2.0, 0.0),
Translation3d(0.0, 0.0, diameter / 2.0),
]
return
elif (
verts is not None
and width is None
and height is None
and length is None
and diameter is None
):
# Handle this in the "default" case
pass
else:
raise Exception("Not a valid overload")
@classmethod
def createCuboid(cls, length: meters, width: meters, height: meters) -> Self:
tm = cls()
verts = [
Translation3d(length / 2.0, -width / 2.0, -height / 2.0),
Translation3d(length / 2.0, width / 2.0, -height / 2.0),
Translation3d(length / 2.0, width / 2.0, height / 2.0),
Translation3d(length / 2.0, -width / 2.0, height / 2.0),
Translation3d(-length / 2.0, -width / 2.0, height / 2.0),
Translation3d(-length / 2.0, width / 2.0, height / 2.0),
Translation3d(-length / 2.0, width / 2.0, -height / 2.0),
Translation3d(-length / 2.0, -width / 2.0, -height / 2.0),
]
# TODO maybe remove this if there is a better/preferred way
# make the python type checking gods happy
assert verts is not None
tm._common_construction(verts)
return tm
@classmethod
def createSpheroid(cls, diameter: meters) -> Self:
tm = cls()
tm.isPlanar = False
tm.isSpherical = True
tm.vertices = [
Translation3d(0.0, -diameter / 2.0, 0.0),
Translation3d(0.0, 0.0, -diameter / 2.0),
Translation3d(0.0, diameter / 2.0, 0.0),
Translation3d(0.0, 0.0, diameter / 2.0),
]
return tm
@classmethod
def createArbitrary(cls, verts: List[Translation3d]) -> Self:
tm = cls()
tm._common_construction(verts)
return tm
def _common_construction(self, verts: List[Translation3d]) -> None:
self.isSpherical = False
if len(verts) <= 2:
self.vertices = []
@@ -132,8 +113,8 @@ class TargetModel:
@classmethod
def AprilTag36h11(cls) -> Self:
return cls(width=6.5 * 0.0254, height=6.5 * 0.0254)
return cls.createPlanar(width=6.5 * 0.0254, height=6.5 * 0.0254)
@classmethod
def AprilTag16h5(cls) -> Self:
return cls(width=6.0 * 0.0254, height=6.0 * 0.0254)
return cls.createPlanar(width=6.0 * 0.0254, height=6.0 * 0.0254)